117
Total objective tests
34
Objectives passed
0
Objectives failed
83
Objectives skipped
7.9s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives30 pass54 skip
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.6s | 162 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000258 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000258 ms (missed cycles : 2).[0m ×2 + 0.15sINFOobjective_server_node[2026-07-30 15:05:42.246] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.73sINFOobjective_server_node[0;93m2026-07-30 15:05:42.823568822 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.73sINFOobjective_server_node[0;93m2026-07-30 15:05:42.823624303 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.87sINFOobjective_server_node[2026-07-30 15:05:42.970] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253219 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253219 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_node[0;93m2026-07-30 15:05:43.418508470 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.32sINFOobjective_server_node[0;93m2026-07-30 15:05:43.418539120 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.40sINFOobjective_server_node[2026-07-30 15:05:43.495] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.44sINFOobjective_server_node[0;93m2026-07-30 15:05:43.535690480 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.44sINFOobjective_server_node[0;93m2026-07-30 15:05:43.537802856 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.44sINFOobjective_server_node[0;93m2026-07-30 15:05:43.537821457 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.45sINFOobjective_server_node[2026-07-30 15:05:43.550] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.75sINFOobjective_server_node[0;93m2026-07-30 15:05:43.845111547 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.76sINFOobjective_server_node[0;93m2026-07-30 15:05:43.859525626 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.76sINFOobjective_server_node[0;93m2026-07-30 15:05:43.859557897 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362410 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362410 ms (missed cycles : 4).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955389 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955389 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785423945.28951025 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.80sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.80sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.80sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785423945.97182131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.95sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959584 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959584 ms (missed cycles : 2).[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.27sINFOros2_control_node[2026-07-30 15:05:46.368] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-07-30 15:05:46.368] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031634 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031634 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498809 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498809 ms (missed cycles : 3).[0m ×2 + 7.10sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×4 + 7.12sINFOros2_control_node[2026-07-30 15:05:49.216] [info] Received new action goal ×2 + 7.12sINFOros2_control_node[2026-07-30 15:05:49.216] [info] Accepted new action goal ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328692 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328692 ms (missed cycles : 2).[0m ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688190 ms (missed cycles : 2). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688190 ms (missed cycles : 2).[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.845841 ms (missed cycles : 8). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.845841 ms (missed cycles : 8).[0m ×2 + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.449227 ms (missed cycles : 9). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.449227 ms (missed cycles : 9).[0m ×2 + 10.29sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×12 + 10.29sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.31sINFOros2_control_node[2026-07-30 15:05:52.405] [info] Received new action goal ×2 + 10.31sINFOros2_control_node[2026-07-30 15:05:52.405] [info] Accepted new action goal ×2 + 11.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157039 ms (missed cycles : 2). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157039 ms (missed cycles : 2).[0m ×2 + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617990 ms (missed cycles : 3). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617990 ms (missed cycles : 3).[0m ×2 + 13.28sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.32sINFOros2_control_node[2026-07-30 15:05:55.418] [info] Received new action goal ×2 + 13.32sINFOros2_control_node[2026-07-30 15:05:55.418] [info] Accepted new action goal ×2 + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.744475 ms (missed cycles : 7). + 13.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.744475 ms (missed cycles : 7).[0m ×2 + 14.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059788 ms (missed cycles : 2). + 14.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059788 ms (missed cycles : 2).[0m ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.827162 ms (missed cycles : 8). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.827162 ms (missed cycles : 8).[0m ×2 + 16.28sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.28sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.28sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.28sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.28sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251271 ms (missed cycles : 2). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251271 ms (missed cycles : 2).[0m ×2 + 17.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820123 ms (missed cycles : 2). + 17.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820123 ms (missed cycles : 2).[0m ×2 + 18.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584818 ms (missed cycles : 3). + 18.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584818 ms (missed cycles : 3).[0m ×2 + 19.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711513 ms (missed cycles : 2). + 19.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711513 ms (missed cycles : 2).[0m ×2 + 20.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.209722 ms (missed cycles : 7). + 20.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.209722 ms (missed cycles : 7).[0m ×2 + 21.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439341 ms (missed cycles : 3). + 21.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439341 ms (missed cycles : 3).[0m ×2 + 22.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223276 ms (missed cycles : 4). + 22.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223276 ms (missed cycles : 4).[0m ×2 + 23.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.08sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.08sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.08sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.08sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912587 ms (missed cycles : 2). + 23.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912587 ms (missed cycles : 2).[0m ×2 + 24.07sINFOros2_control_node[2026-07-30 15:06:06.165] [info] Received new action goal ×2 + 24.07sINFOros2_control_node[2026-07-30 15:06:06.165] [info] Accepted new action goal ×2 + 24.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393173 ms (missed cycles : 5). + 24.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393173 ms (missed cycles : 5).[0m ×2 + 25.23sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.24sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.52sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 25.52sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.57sINFOros2_control_node[2026-07-30 15:06:07.665] [info] Received new action goal ×2 + 25.57sINFOros2_control_node[2026-07-30 15:06:07.665] [info] Accepted new action goal ×2 + 25.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635916 ms (missed cycles : 4). + 25.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635916 ms (missed cycles : 4).[0m ×2 + 26.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713994 ms (missed cycles : 2). + 26.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713994 ms (missed cycles : 2).[0m ×2 + 27.68sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 27.68sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.69sINFOros2_control_node[2026-07-30 15:06:09.783] [info] Received new action goal ×2 + 27.69sINFOros2_control_node[2026-07-30 15:06:09.783] [info] Accepted new action goal ×2 + 27.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903005 ms (missed cycles : 2). + 27.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903005 ms (missed cycles : 2).[0m ×2 + 28.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128540 ms (missed cycles : 2). + 28.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128540 ms (missed cycles : 2).[0m ×2 + 29.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292975 ms (missed cycles : 4). + 29.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292975 ms (missed cycles : 4).[0m ×2 + 30.72sINFOros2_control_node[2026-07-30 15:06:12.813] [info] Received new action goal ×2 + 30.72sINFOros2_control_node[2026-07-30 15:06:12.813] [info] Accepted new action goal ×2 + 30.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997512 ms (missed cycles : 2). + 30.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997512 ms (missed cycles : 2).[0m ×2 + 31.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015483 ms (missed cycles : 4). + 31.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015483 ms (missed cycles : 4).[0m ×2 + 32.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888270 ms (missed cycles : 5). + 32.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888270 ms (missed cycles : 5).[0m ×2 + 33.30sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 33.30sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.34sINFOros2_control_node[2026-07-30 15:06:15.435] [info] Received new action goal ×2 + 33.34sINFOros2_control_node[2026-07-30 15:06:15.435] [info] Accepted new action goal ×2 + 34.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905974 ms (missed cycles : 5). + 34.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905974 ms (missed cycles : 5).[0m ×2 + 35.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300545 ms (missed cycles : 2). + 35.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300545 ms (missed cycles : 2).[0m ×2 + 36.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033127 ms (missed cycles : 2). + 36.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033127 ms (missed cycles : 2).[0m ×2 + 37.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384871 ms (missed cycles : 2). + 37.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384871 ms (missed cycles : 2).[0m ×2 + 38.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110621 ms (missed cycles : 2). + 38.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110621 ms (missed cycles : 2).[0m ×2 + 38.90sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 39.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816990 ms (missed cycles : 2). + 39.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816990 ms (missed cycles : 2).[0m ×2 + 40.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574765 ms (missed cycles : 3). + 40.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574765 ms (missed cycles : 3).[0m ×2 + 41.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768895 ms (missed cycles : 2). + 41.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768895 ms (missed cycles : 2).[0m ×2 + 42.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247469 ms (missed cycles : 4). + 42.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247469 ms (missed cycles : 4).[0m ×2 + 43.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624824 ms (missed cycles : 4). + 43.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624824 ms (missed cycles : 4).[0m ×2 + 44.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935449 ms (missed cycles : 3). + 44.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935449 ms (missed cycles : 3).[0m ×2 + 44.63sINFOros2_control_node[2026-07-30 15:06:26.725] [info] Received new action goal ×2 + 44.63sINFOros2_control_node[2026-07-30 15:06:26.725] [info] Accepted new action goal ×2 + 45.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947756 ms (missed cycles : 3). + 45.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947756 ms (missed cycles : 3).[0m ×2 + 45.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1785423987.88938022 seconds ×3 + 46.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.672998 ms (missed cycles : 5). + 46.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.672998 ms (missed cycles : 5).[0m ×2 + 46.58sINFOobjective_server_nodeObjective `Push Button` starting at time: 1785423988.67470860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171490 ms (missed cycles : 4). + 47.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171490 ms (missed cycles : 4).[0m ×2 + 47.79sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 47.79sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.82sINFOros2_control_node[2026-07-30 15:06:29.914] [info] Received new action goal ×2 + 47.82sINFOros2_control_node[2026-07-30 15:06:29.914] [info] Accepted new action goal ×2 + 48.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416573 ms (missed cycles : 2). + 48.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416573 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 29.5s | 3 errors · 117 warnings · 255 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160160 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160160 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.678852 ms (missed cycles : 7). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.678852 ms (missed cycles : 7).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973653 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973653 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 2.77sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.00sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 3.00sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1785424015.30857944 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407649 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407649 ms (missed cycles : 2).[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.69sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.69sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.69sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 3.77sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1785424016.07927060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 3.85sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOobjective_server_nodeFound path in 5 iterations (0.00557202 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.01sINFOros2_control_node[2026-07-30 15:06:56.314] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-07-30 15:06:56.314] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380561 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380561 ms (missed cycles : 4).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.463737 ms (missed cycles : 10). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.463737 ms (missed cycles : 10).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457904 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457904 ms (missed cycles : 3).[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.185754 ms (missed cycles : 7). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.185754 ms (missed cycles : 7).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788867 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788867 ms (missed cycles : 2).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337414 ms (missed cycles : 3). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337414 ms (missed cycles : 3).[0m ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501401 ms (missed cycles : 2). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501401 ms (missed cycles : 2).[0m ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.600619 ms (missed cycles : 6). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.600619 ms (missed cycles : 6).[0m ×2 + 11.64sINFOobjective_server_node[2026-07-30 15:07:03.942] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 12.19sINFOobjective_server_node[0;m[0;93m2026-07-30 15:07:04.500027916 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 12.19sINFOobjective_server_node[0;93m2026-07-30 15:07:04.500057016 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.29sINFOobjective_server_node[2026-07-30 15:07:04.593] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804548 ms (missed cycles : 5). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804548 ms (missed cycles : 5).[0m ×2 + 12.70sINFOobjective_server_node[0;93m2026-07-30 15:07:05.001246868 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 12.70sINFOobjective_server_node[0;93m2026-07-30 15:07:05.001279968 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.76sINFOobjective_server_node[2026-07-30 15:07:05.067] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 12.80sINFOobjective_server_node[0;93m2026-07-30 15:07:05.103614316 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 12.80sINFOobjective_server_node[0;93m2026-07-30 15:07:05.106662849 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 12.80sINFOobjective_server_node[0;93m2026-07-30 15:07:05.106695860 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.82sINFOobjective_server_node[2026-07-30 15:07:05.120] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.15sINFOobjective_server_node[0;93m2026-07-30 15:07:05.457607041 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 13.18sINFOobjective_server_node[0;93m2026-07-30 15:07:05.481304472 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 13.18sINFOobjective_server_node[0;93m2026-07-30 15:07:05.481337892 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623563 ms (missed cycles : 4). + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623563 ms (missed cycles : 4).[0m ×2 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.257246 ms (missed cycles : 7). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.257246 ms (missed cycles : 7).[0m ×2 + 14.83sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487225 ms (missed cycles : 5). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487225 ms (missed cycles : 5).[0m ×2 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.323196 ms (missed cycles : 7). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.323196 ms (missed cycles : 7).[0m ×2 + 17.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184937 ms (missed cycles : 4). + 17.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184937 ms (missed cycles : 4).[0m ×2 + 18.02sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 18.35sINFOobjective_server_nodeFound path in 4 iterations (0.00198582 s). ×2 + 18.40sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 18.43sINFOobjective_server_nodeFound path in 12 iterations (0.0042171 s). ×2 + 18.47sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 18.50sINFOobjective_server_nodeFound path in 1 iterations (0.0021567 s). ×2 + 18.53sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] ×2 + 18.55sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 18.57sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 18.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980000 ms (missed cycles : 2). + 18.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980000 ms (missed cycles : 2).[0m ×2 + 18.59sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 18.62sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 18.64sINFOobjective_server_nodeFound path in 12 iterations (0.00366386 s). ×2 + 18.68sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] ×2 + 18.70sINFOobjective_server_nodeFound path in 2 iterations (0.00368993 s). ×2 + 18.73sINFOobjective_server_nodePath shortcutter: [X_____________________________X____________________X] ×2 + 18.75sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). ×2 + 18.78sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 18.80sINFOobjective_server_nodeFound path in 4 iterations (0.00362559 s). ×2 + 18.86sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 18.88sINFOobjective_server_nodeFound path in 4 iterations (0.00231545 s). ×2 + 18.94sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X______________________X] ×2 + 18.97sINFOobjective_server_nodeFound path in 1 iterations (0.00415129 s). ×2 + 19.01sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 19.04sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 19.07sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 19.10sINFOobjective_server_nodeFound path in 1 iterations (0.00194032 s). ×2 + 19.15sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X_________________________X] ×2 + 19.17sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 19.20sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 19.23sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 19.28sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X] ×2 + 19.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 19.45sINFOros2_control_node[2026-07-30 15:07:11.756] [info] Received new action goal ×2 + 19.45sINFOros2_control_node[2026-07-30 15:07:11.756] [info] Accepted new action goal ×2 + 19.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.657117 ms (missed cycles : 6). + 19.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.657117 ms (missed cycles : 6).[0m ×2 + 20.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313059 ms (missed cycles : 4). + 20.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313059 ms (missed cycles : 4).[0m ×2 + 21.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042948 ms (missed cycles : 2). + 21.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042948 ms (missed cycles : 2).[0m ×2 + 22.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189564 ms (missed cycles : 3). + 22.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189564 ms (missed cycles : 3).[0m ×2 + 23.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.907652 ms (missed cycles : 5). + 23.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.907652 ms (missed cycles : 5).[0m ×2 + 24.45sINFOros2_control_node[2026-07-30 15:07:16.758] [info] Received new action goal ×2 + 24.45sINFOros2_control_node[2026-07-30 15:07:16.758] [info] Accepted new action goal ×2 + 24.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863022 ms (missed cycles : 3). + 24.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863022 ms (missed cycles : 3).[0m ×2 + 25.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.209724 ms (missed cycles : 7). + 25.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.209724 ms (missed cycles : 7).[0m ×2 + 25.99sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 25.99sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 26.00sINFOros2_control_node[2026-07-30 15:07:18.302] [info] Received new action goal ×2 + 26.00sINFOros2_control_node[2026-07-30 15:07:18.302] [info] Accepted new action goal ×2 + 26.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975747 ms (missed cycles : 5). + 26.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975747 ms (missed cycles : 5).[0m ×2 + 27.21sWARNobjective_server_nodePlan up-over-down Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 27.21sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 27.25sINFOros2_control_node[2026-07-30 15:07:19.554] [info] Received new action goal ×2 + 27.25sINFOros2_control_node[2026-07-30 15:07:19.554] [info] Accepted new action goal ×2 + 27.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.570894 ms (missed cycles : 6). + 27.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.570894 ms (missed cycles : 6).[0m ×2 + 28.69sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 28.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929847 ms (missed cycles : 2). + 28.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929847 ms (missed cycles : 2).[0m ×2 + 29.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772007 ms (missed cycles : 5). + 29.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772007 ms (missed cycles : 5).[0m ×2 + 30.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299750 ms (missed cycles : 4). + 30.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299750 ms (missed cycles : 4).[0m ×2 + 31.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.096445 ms (missed cycles : 7). + 32.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.096445 ms (missed cycles : 7).[0m ×2 + 32.47sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785424044.77944899 seconds ×3 + 32.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 32.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 32.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 32.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 32.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 32.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 33.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554504 ms (missed cycles : 3). + 33.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554504 ms (missed cycles : 3).[0m ×2 + 33.18sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785424045.48277068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 33.40sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 33.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 33.41sINFOros2_control_node[2026-07-30 15:07:25.716] [info] Received new action goal ×2 + 33.41sINFOros2_control_node[2026-07-30 15:07:25.717] [info] Accepted new action goal ×2 + 34.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673639 ms (missed cycles : 4). + 34.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673639 ms (missed cycles : 4).[0m ×2 + 35.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354399 ms (missed cycles : 4). + 35.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354399 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 21.5s | 3 errors · 99 warnings · 215 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.211694 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.211694 ms (missed cycles : 7).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488650 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488650 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.32sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×4 + 1.33sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.34sINFOros2_control_node[2026-07-30 15:04:27.575] [info] Received new action goal ×2 + 1.34sINFOros2_control_node[2026-07-30 15:04:27.575] [info] Accepted new action goal ×2 + 2.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOros2_control_node[2026-07-30 15:04:28.312] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-07-30 15:04:28.312] [info] Canceling active goal... ×2 + 2.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785423868.32735395 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124637 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124637 ms (missed cycles : 2).[0m ×2 + 2.67sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 2.67sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.67sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×8 + 2.67sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785423868.91207409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785423869.02234864 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.092329 ms (missed cycles : 7). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.092329 ms (missed cycles : 7).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785423869.64818311 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.61sINFOros2_control_node[2026-07-30 15:04:29.851] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-07-30 15:04:29.851] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360548 ms (missed cycles : 6). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360548 ms (missed cycles : 6).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244847 ms (missed cycles : 4). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244847 ms (missed cycles : 4).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.367142 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.367142 ms (missed cycles : 5).[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024768 ms (missed cycles : 2). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024768 ms (missed cycles : 2).[0m ×2 + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084346 ms (missed cycles : 2). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084346 ms (missed cycles : 2).[0m ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.471685 ms (missed cycles : 6). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.471685 ms (missed cycles : 6).[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.671882 ms (missed cycles : 5). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.671882 ms (missed cycles : 5).[0m ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728766 ms (missed cycles : 3). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728766 ms (missed cycles : 3).[0m ×2 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136212 ms (missed cycles : 2). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136212 ms (missed cycles : 2).[0m ×2 + 13.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888180 ms (missed cycles : 3). + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888180 ms (missed cycles : 3).[0m ×2 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726678 ms (missed cycles : 2). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726678 ms (missed cycles : 2).[0m ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217792 ms (missed cycles : 2). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217792 ms (missed cycles : 2).[0m ×2 + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.989784 ms (missed cycles : 5). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.989784 ms (missed cycles : 5).[0m ×2 + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162401 ms (missed cycles : 4). + 17.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162401 ms (missed cycles : 4).[0m ×2 + 18.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774334 ms (missed cycles : 4). + 18.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774334 ms (missed cycles : 4).[0m ×2 + 18.83sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 18.84sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 18.84sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 18.95sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 18.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 18.96sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 18.96sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 18.97sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 19.00sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 19.02sINFOobjective_server_nodeFound path in 5 iterations (0.00368955 s). ×2 + 19.05sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 19.12sINFOros2_control_node[2026-07-30 15:04:45.355] [info] Received new action goal ×2 + 19.12sINFOros2_control_node[2026-07-30 15:04:45.355] [info] Accepted new action goal ×2 + 19.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129546 ms (missed cycles : 4). + 19.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129546 ms (missed cycles : 4).[0m ×2 + 20.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373648 ms (missed cycles : 4). + 20.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373648 ms (missed cycles : 4).[0m ×2 + 21.34sINFOros2_control_node[2026-07-30 15:04:47.578] [info] Received new action goal ×2 + 21.34sINFOros2_control_node[2026-07-30 15:04:47.578] [info] Accepted new action goal ×2 + 21.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905992 ms (missed cycles : 2). + 21.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905992 ms (missed cycles : 2).[0m ×2 + 22.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087751 ms (missed cycles : 4). + 22.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087751 ms (missed cycles : 4).[0m ×2 + 23.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 23.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 23.01sINFOros2_control_node[2026-07-30 15:04:49.251] [info] Received new action goal ×2 + 23.01sINFOros2_control_node[2026-07-30 15:04:49.251] [info] Accepted new action goal ×2 + 23.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.231734 ms (missed cycles : 7). + 23.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.231734 ms (missed cycles : 7).[0m ×2 + 24.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785423890.53836322 seconds ×3 + 24.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110081 ms (missed cycles : 4). + 24.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110081 ms (missed cycles : 4).[0m ×2 + 24.92sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785423891.15778208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 25.01sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785423891.25015831 seconds ×3 + 25.66sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785423891.89705515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 25.76sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 25.76sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 25.77sINFOros2_control_node[2026-07-30 15:04:52.010] [info] Received new action goal ×2 + 25.77sINFOros2_control_node[2026-07-30 15:04:52.011] [info] Accepted new action goal ×2 + 25.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789037 ms (missed cycles : 6). + 25.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789037 ms (missed cycles : 6).[0m ×2 + 26.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938561 ms (missed cycles : 3). + 26.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938561 ms (missed cycles : 3).[0m ×2 + 28.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754968 ms (missed cycles : 2). + 28.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754968 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 3 errors · 63 warnings · 187 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.150137 ms (missed cycles : 7). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.150137 ms (missed cycles : 7).[0m ×2 + 1.29sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 1.29sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.29sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 1.30sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 1.31sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 1.34sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 1.36sINFOobjective_server_nodeFound path in 5 iterations (0.00459553 s). ×2 + 1.40sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 1.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937182 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937182 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_node[2026-07-30 15:05:22.452] [info] Received new action goal ×2 + 1.45sINFOros2_control_node[2026-07-30 15:05:22.452] [info] Accepted new action goal ×2 + 1.85sINFOros2_control_node[2026-07-30 15:05:22.844] [info] Received new action goal ×2 + 1.85sINFOros2_control_node[2026-07-30 15:05:22.844] [info] Accepted new action goal ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565269 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565269 ms (missed cycles : 2).[0m ×2 + 3.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.31sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.32sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.32sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.32sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785423924.33617592 seconds ×3 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643189 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643189 ms (missed cycles : 2).[0m ×2 + 4.07sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 4.07sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 4.07sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 4.15sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1785423925.14785504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-07-30 15:05:25.261] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-07-30 15:05:25.261] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078150 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078150 ms (missed cycles : 4).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066311 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066311 ms (missed cycles : 4).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.721230 ms (missed cycles : 5). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.721230 ms (missed cycles : 5).[0m ×2 + 6.66sINFOros2_control_node[2026-07-30 15:05:27.660] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-07-30 15:05:27.660] [info] Accepted new action goal ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127078 ms (missed cycles : 2). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127078 ms (missed cycles : 2).[0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588076 ms (missed cycles : 4). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588076 ms (missed cycles : 4).[0m ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676199 ms (missed cycles : 3). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676199 ms (missed cycles : 3).[0m ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.145969 ms (missed cycles : 4). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.145969 ms (missed cycles : 4).[0m ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937755 ms (missed cycles : 5). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937755 ms (missed cycles : 5).[0m ×2 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151673 ms (missed cycles : 4). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151673 ms (missed cycles : 4).[0m ×2 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492154 ms (missed cycles : 3). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492154 ms (missed cycles : 3).[0m ×2 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513373 ms (missed cycles : 3). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513373 ms (missed cycles : 3).[0m ×2 + 15.23sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785423936.22407651 seconds ×3 + 15.89sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785423936.88562393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.96sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785423936.95577168 seconds ×3 + 15.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155276 ms (missed cycles : 4). + 15.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155276 ms (missed cycles : 4).[0m ×2 + 16.76sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785423937.75338864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.87sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.88sINFOros2_control_node[2026-07-30 15:05:37.877] [info] Received new action goal ×2 + 16.88sINFOros2_control_node[2026-07-30 15:05:37.877] [info] Accepted new action goal ×2 + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446935 ms (missed cycles : 3). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446935 ms (missed cycles : 3).[0m ×2 + 18.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547119 ms (missed cycles : 3). + 18.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547119 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.8s | 71 errors · 50 warnings · 381 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329992 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329992 ms (missed cycles : 2).[0m ×2 + 0.29sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOros2_control_node[2026-07-30 15:08:20.219] [info] Got request to cancel active goal. ×2 + 0.30sINFOros2_control_node[2026-07-30 15:08:20.219] [info] Canceling active goal... ×2 + 0.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785424100.22339678 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.89sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 0.89sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 0.89sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×8 + 0.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785424100.81444049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546626 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546626 ms (missed cycles : 3).[0m ×2 + 1.08sINFOros2_control_nodeMuJoCo sim: 0.53% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785424101.50458646 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177615 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177615 ms (missed cycles : 5).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785424102.11152220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.20sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.20sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785424102.11330104 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785424102.84421039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785424102.84474969 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197804 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197804 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785424103.42584443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695020 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695020 ms (missed cycles : 3).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785424104.62600470 seconds ×3 + 4.74sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152514 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152514 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.014991 ms (missed cycles : 5). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.014991 ms (missed cycles : 5).[0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037739 ms (missed cycles : 5). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037739 ms (missed cycles : 5).[0m ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398510 ms (missed cycles : 3). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398510 ms (missed cycles : 3).[0m ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.559822 ms (missed cycles : 6). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.559822 ms (missed cycles : 6).[0m ×2 + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312796 ms (missed cycles : 2). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312796 ms (missed cycles : 2).[0m ×2 + 10.79sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.80sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.80sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.82sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.83sERRORweb_video_auth_proxy-23process has died [pid 9186, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.83sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.83sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.83sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.83sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.86sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.87sERRORweb_bridge_auth_proxy-22process has died [pid 9181, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.87sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.88sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.89sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.90sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.91sINFOvideo_server-21process has finished cleanly [pid 9180] ×2 + 10.91sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.92sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.93sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.94sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.95sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.96sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.97sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.98sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.00sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.00sINFOcontroller_managerShutdown request received.... + 11.00sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.00sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.00sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.00sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.00sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.00sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.00sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.00sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.00sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.00sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.00sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.00sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.00sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.00sINFOcontroller_managerShutting down the controller manager. + 11.00sINFOvideo_server2026/07/30 15:08:30 INF shutting down gracefully ×2 + 11.00sINFOvideo_server2026/07/30 15:08:30 INF [WebRTC] closing ×2 + 11.00sINFOvideo_server2026/07/30 15:08:30 INF [RTSP] closing ×2 + 11.00sINFOvideo_server2026/07/30 15:08:30 INF waiting for running hooks ×2 + 11.00sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.00sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.00sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.00sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.00sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.00sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.00sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 340, in main ×2 + 11.00sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.00sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.00sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.00sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.00sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.00sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.00sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.00sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.01sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.01sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.01sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.01sERRORmove_groupStack trace (most recent call last) in thread 9518: ×2 + 11.01sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.01sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f92ef807a63, in __clone ×2 + 11.01sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f92ef77aaa3, in ×2 + 11.01sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f92efa0cdb3, in ×2 + 11.01sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f92f014fed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.01sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f92efd7f4d0, in rclcpp::Rate::sleep() ×2 + 11.01sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f92efcd2a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.01sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f92efc97a71, in ×2 + 11.01sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f92ef9db390, in __cxa_throw ×2 + 11.01sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f92ef9c5a54, in std::terminate() ×2 + 11.01sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f92ef9db0d9, in ×2 + 11.01sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f92ef9c5ff4, in ×2 + 11.01sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f92ef7068fe, in abort ×2 + 11.01sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f92ef72327d, in raise ×2 + 11.01sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f92ef77cb2c, in pthread_kill ×2 + 11.01sERRORmove_groupAborted (Signal sent by tkill() 9085 0) ×2 + 11.01sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.01sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.01sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.01sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.01sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.01sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.01sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.01sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.01sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.01sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.01sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.01sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.01sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.01sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.01sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.01sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.01sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.01sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.01sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.01sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.01sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.01sERRORmove_group-9process has died [pid 9085, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level error --ros-args --params-file /tmp/launch_params_k5ub9vfn --params-file /tmp/launch_params_j4s162er --params-file /tmp/launch_params_qnsfx0im --params-file /tmp/launch_params_z8uq2psh --params-file /tmp/launch_params_tb7ahu7v --params-file /tmp/launch_params_kcbyvd5r']. ×2 + 11.06sINFOobjective_server_node[0;m[2026-07-30 15:08:30.972] [moveit_pro_license] [info] ×2 + 11.06sINFOobjective_server_node************************************************* ×4 + 11.06sINFOobjective_server_node* MoveIt Pro License ×2 + 11.06sINFOobjective_server_node* Application has successfully terminated ×2 + 11.11sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.11sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.11sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.13sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.15sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.15sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ba2b6f16a4, in _start ×2 + 11.15sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd9af4dd28a, in __libc_start_main ×2 + 11.15sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd9af4dd1d0, in ×2 + 11.15sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd9af4fabbd, in exit ×2 + 11.15sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd9af4faa75, in ×2 + 11.15sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fd9af9c98f5, in spdlog::details::registry::~registry() ×2 + 11.15sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ba2b6f1d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.15sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ba2b6f8315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.15sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ba2b6f75a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.15sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ba2b6f3b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.15sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ba2b6f1d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.15sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd9b0083454, in rclcpp::Node::~Node() ×2 + 11.15sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd9b003e515, in ×2 + 11.15sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd9b0081d20, in ×2 + 11.15sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd9b0081c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.15sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd9b003e5d9, in ×2 + 11.15sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd9b0043161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.15sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fd960df0030]) ×2 + 11.70sERRORobjective_server_node_main-14process has died [pid 9090, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_2qubhakw --params-file /tmp/launch_params_v5cgpxha --params-file /tmp/launch_params_4a_gzswl --params-file /tmp/launch_params_uhkvd95x --params-file /tmp/launch_params_xmi14gl4 --params-file /tmp/launch_params_bqvuleo4 --params-file /tmp/launch_params_5c5lpzah --params-file /tmp/launch_params_sw_2zexw --params-file /tmp/launch_params_tjhzb4od']. ×2 + 11.70sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 11.92sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9177] ×2 + 11.92sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.99sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9089] ×2 + 11.99sINFOexecute_objective_bridge-17process has finished cleanly [pid 9093] ×2 + 12.00sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9088] ×2 + 12.01sERRORui_teleop_bridge-18process has died [pid 9094, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge --ros-args --params-file /tmp/launch_params_knjpri6l']. ×2 + 12.02sINFOcomponent_container_mt-16process has finished cleanly [pid 9092] ×2 + 12.03sINFOwaypoint_manager_node-11process has finished cleanly [pid 9087] ×2 + 12.06sINFOparameter_manager_node-10process has finished cleanly [pid 9086] ×2 + 13.03sINFOweb_bridge-19process has finished cleanly [pid 9095] ×2 + 13.03sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.13sINFOcomponent_container_mt-15process has finished cleanly [pid 9091] ×2 + 13.64sINFOros2_control_node-1process has finished cleanly [pid 9066] ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.8s | 18 errors · 63 warnings · 239 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624824 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624824 ms (missed cycles : 4).[0m ×2 + 0.47sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.49sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.49sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.49sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.49sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935449 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935449 ms (missed cycles : 3).[0m ×2 + 1.36sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.37sINFOros2_control_node[2026-07-30 15:06:26.725] [info] Received new action goal ×2 + 1.37sINFOros2_control_node[2026-07-30 15:06:26.725] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947756 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947756 ms (missed cycles : 3).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1785423987.88938022 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.672998 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.672998 ms (missed cycles : 5).[0m ×2 + 3.16sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.16sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.16sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 3.32sINFOobjective_server_nodeObjective `Push Button` starting at time: 1785423988.67470860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171490 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171490 ms (missed cycles : 4).[0m ×2 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.56sINFOros2_control_node[2026-07-30 15:06:29.914] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-07-30 15:06:29.914] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416573 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416573 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452384 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452384 ms (missed cycles : 2).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042529 ms (missed cycles : 4). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042529 ms (missed cycles : 4).[0m ×2 + 8.28sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431973 ms (missed cycles : 3). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431973 ms (missed cycles : 3).[0m ×2 + 8.29sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.29sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.30sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.30sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294596 ms (missed cycles : 4). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294596 ms (missed cycles : 4).[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.387884 ms (missed cycles : 6). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.387884 ms (missed cycles : 6).[0m ×2 + 10.70sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 10.71sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.73sINFOros2_control_node[2026-07-30 15:06:36.080] [info] Received new action goal ×2 + 10.73sINFOros2_control_node[2026-07-30 15:06:36.080] [info] Accepted new action goal ×2 + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539358 ms (missed cycles : 3). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539358 ms (missed cycles : 3).[0m ×2 + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.239391 ms (missed cycles : 7). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.239391 ms (missed cycles : 7).[0m ×2 + 13.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826214 ms (missed cycles : 5). + 13.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826214 ms (missed cycles : 5).[0m ×2 + 14.34sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785423999.69488573 seconds ×3 + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.590847 ms (missed cycles : 4). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.590847 ms (missed cycles : 4).[0m ×2 + 14.99sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785424000.34300327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.15sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 15.15sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.15sINFOros2_control_node[2026-07-30 15:06:40.506] [info] Received new action goal ×2 + 15.15sINFOros2_control_node[2026-07-30 15:06:40.506] [info] Accepted new action goal ×2 + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.898097 ms (missed cycles : 8). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.898097 ms (missed cycles : 8).[0m ×2 + 16.44sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 16.45sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159377 ms (missed cycles : 5). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159377 ms (missed cycles : 5).[0m ×2 + 16.76sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×18 + 16.77sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465667 ms (missed cycles : 3). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465667 ms (missed cycles : 3).[0m ×2 + 17.78sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785424003.13620090 seconds ×3 + 17.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 17.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 17.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 17.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 17.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 17.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.2s | 6 errors · 63 warnings · 156 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025226 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025226 ms (missed cycles : 4).[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.54sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 0.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.55sINFOros2_control_node[2026-07-30 15:05:00.028] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-07-30 15:05:00.028] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789634 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740922 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740922 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785423902.27768970 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181484 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181484 ms (missed cycles : 2).[0m ×2 + 3.48sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.48sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.48sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785423902.97325587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.69sINFOros2_control_node[2026-07-30 15:05:03.162] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-07-30 15:05:03.162] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963287 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963287 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665715 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665715 ms (missed cycles : 3).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840868 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840868 ms (missed cycles : 5).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316324 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316324 ms (missed cycles : 2).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.833950 ms (missed cycles : 8). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.833950 ms (missed cycles : 8).[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922075 ms (missed cycles : 2). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922075 ms (missed cycles : 2).[0m ×2 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476754 ms (missed cycles : 2). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476754 ms (missed cycles : 2).[0m ×2 + 10.91sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 10.92sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 10.93sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 11.19sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 11.19sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 11.19sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 11.20sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 11.25sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 11.28sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×4 + 11.30sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 11.35sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 11.36sINFOobjective_server_nodeFound path in 5 iterations (0.00288542 s). ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486355 ms (missed cycles : 3). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486355 ms (missed cycles : 3).[0m ×2 + 11.40sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X____________X] ×2 + 11.42sINFOobjective_server_nodeFound path in 1 iterations (0.00204528 s). ×2 + 11.47sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_________________________X] ×2 + 11.49sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×4 + 11.55sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 11.65sINFOros2_control_node[2026-07-30 15:05:11.128] [info] Received new action goal ×2 + 11.65sINFOros2_control_node[2026-07-30 15:05:11.128] [info] Accepted new action goal ×2 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523430 ms (missed cycles : 3). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523430 ms (missed cycles : 3).[0m ×2 + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496526 ms (missed cycles : 3). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496526 ms (missed cycles : 3).[0m ×2 + 13.83sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 14.10sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 14.10sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 14.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785423913.60520196 seconds ×3 + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.896074 ms (missed cycles : 8). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.896074 ms (missed cycles : 8).[0m ×2 + 14.75sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1785423914.22622228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.94sINFOros2_control_node[2026-07-30 15:05:14.420] [info] Received new action goal ×2 + 14.94sINFOros2_control_node[2026-07-30 15:05:14.420] [info] Accepted new action goal ×2 + 15.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658604 ms (missed cycles : 4). + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658604 ms (missed cycles : 4).[0m ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114638 ms (missed cycles : 2). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114638 ms (missed cycles : 2).[0m ×2 + 17.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403142 ms (missed cycles : 3). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403142 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.1s | 3 errors · 72 warnings · 346 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 0.59sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×7 + 0.59sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.59sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×14 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 3.40sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.51sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.04sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 6.04sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.06sINFOros2_control_node[2026-07-30 15:04:20.532] [info] Received new action goal ×2 + 6.06sINFOros2_control_node[2026-07-30 15:04:20.532] [info] Accepted new action goal ×2 + 6.52sINFOros2_control_nodeMuJoCo sim: 0.19% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414507 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414507 ms (missed cycles : 3).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170178 ms (missed cycles : 2). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170178 ms (missed cycles : 2).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800798 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800798 ms (missed cycles : 2).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400546 ms (missed cycles : 3). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400546 ms (missed cycles : 3).[0m ×2 + 9.78sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 9.80sINFOros2_control_node[2026-07-30 15:04:24.266] [info] Received new action goal ×2 + 9.80sINFOros2_control_node[2026-07-30 15:04:24.266] [info] Accepted new action goal ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.182753 ms (missed cycles : 7). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.182753 ms (missed cycles : 7).[0m ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.211694 ms (missed cycles : 7). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.211694 ms (missed cycles : 7).[0m ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488650 ms (missed cycles : 3). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488650 ms (missed cycles : 3).[0m ×2 + 13.09sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×4 + 13.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.11sINFOros2_control_node[2026-07-30 15:04:27.575] [info] Received new action goal ×2 + 13.11sINFOros2_control_node[2026-07-30 15:04:27.575] [info] Accepted new action goal ×2 + 13.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.84sINFOros2_control_node[2026-07-30 15:04:28.312] [info] Got request to cancel active goal. ×2 + 13.84sINFOros2_control_node[2026-07-30 15:04:28.312] [info] Canceling active goal... ×2 + 13.86sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785423868.32735395 seconds ×3 + 13.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 13.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 13.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 13.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 13.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 13.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124637 ms (missed cycles : 2). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124637 ms (missed cycles : 2).[0m ×2 + 14.44sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785423868.91207409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.55sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785423869.02234864 seconds ×3 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.092329 ms (missed cycles : 7). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.092329 ms (missed cycles : 7).[0m ×2 + 15.18sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785423869.64818311 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.37sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.38sINFOros2_control_node[2026-07-30 15:04:29.851] [info] Received new action goal ×2 + 15.38sINFOros2_control_node[2026-07-30 15:04:29.851] [info] Accepted new action goal ×2 + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360548 ms (missed cycles : 6). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360548 ms (missed cycles : 6).[0m ×2 + 16.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244847 ms (missed cycles : 4). + 16.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244847 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 66 warnings · 187 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504028 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504028 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529907 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529907 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826545 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826545 ms (missed cycles : 5).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1785424077.18301320 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.133649 ms (missed cycles : 7). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.133649 ms (missed cycles : 7).[0m ×2 + 3.48sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 3.49sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.49sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×8 + 3.49sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1785424077.82236505 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.61sINFOros2_control_node[2026-07-30 15:07:57.936] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-07-30 15:07:57.936] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396321 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396321 ms (missed cycles : 2).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670528 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670528 ms (missed cycles : 3).[0m ×2 + 5.52sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.52sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912529 ms (missed cycles : 2). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912529 ms (missed cycles : 2).[0m ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773972 ms (missed cycles : 3). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773972 ms (missed cycles : 3).[0m ×2 + 8.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.604100 ms (missed cycles : 6). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.604100 ms (missed cycles : 6).[0m ×2 + 9.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.305172 ms (missed cycles : 7). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.305172 ms (missed cycles : 7).[0m ×2 + 10.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774979 ms (missed cycles : 5). + 10.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774979 ms (missed cycles : 5).[0m ×2 + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672165 ms (missed cycles : 2). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672165 ms (missed cycles : 2).[0m ×2 + 12.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720762 ms (missed cycles : 6). + 12.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720762 ms (missed cycles : 6).[0m ×2 + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607717 ms (missed cycles : 3). + 13.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607717 ms (missed cycles : 3).[0m ×2 + 13.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785424088.21264124 seconds ×3 + 14.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578587 ms (missed cycles : 4). + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578587 ms (missed cycles : 4).[0m ×2 + 14.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785424088.82171702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.56sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.56sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785424088.90189314 seconds ×3 + 15.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785424089.49543548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.20sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.20sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785424089.52795482 seconds ×3 + 15.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265684 ms (missed cycles : 4). + 15.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265684 ms (missed cycles : 4).[0m ×2 + 15.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785424090.19878006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.96sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 15.97sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.97sINFOros2_control_node[2026-07-30 15:08:10.302] [info] Received new action goal ×2 + 15.97sINFOros2_control_node[2026-07-30 15:08:10.302] [info] Accepted new action goal ×2 + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709888 ms (missed cycles : 2). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709888 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.0s | 3 errors · 66 warnings · 170 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905992 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905992 ms (missed cycles : 2).[0m ×2 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087751 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087751 ms (missed cycles : 4).[0m ×2 + 1.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.21sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.22sINFOros2_control_node[2026-07-30 15:04:49.251] [info] Received new action goal ×2 + 1.22sINFOros2_control_node[2026-07-30 15:04:49.251] [info] Accepted new action goal ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.231734 ms (missed cycles : 7). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.231734 ms (missed cycles : 7).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785423890.53836322 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 3.10sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110081 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110081 ms (missed cycles : 4).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785423891.15778208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785423891.25015831 seconds ×3 + 3.87sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785423891.89705515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.98sINFOros2_control_node[2026-07-30 15:04:52.010] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-07-30 15:04:52.011] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789037 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789037 ms (missed cycles : 6).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938561 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938561 ms (missed cycles : 3).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754968 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754968 ms (missed cycles : 2).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757875 ms (missed cycles : 4). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757875 ms (missed cycles : 4).[0m ×2 + 7.31sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 7.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.33sINFOros2_control_node[2026-07-30 15:04:55.360] [info] Received new action goal ×2 + 7.33sINFOros2_control_node[2026-07-30 15:04:55.361] [info] Accepted new action goal ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558549 ms (missed cycles : 3). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558549 ms (missed cycles : 3).[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148942 ms (missed cycles : 4). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148942 ms (missed cycles : 4).[0m ×2 + 9.65sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 9.66sINFOros2_control_node[2026-07-30 15:04:57.688] [info] Received new action goal ×2 + 9.66sINFOros2_control_node[2026-07-30 15:04:57.688] [info] Accepted new action goal ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478734 ms (missed cycles : 3). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478734 ms (missed cycles : 3).[0m ×2 + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025226 ms (missed cycles : 4). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025226 ms (missed cycles : 4).[0m ×2 + 11.99sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 12.00sINFOros2_control_node[2026-07-30 15:05:00.028] [info] Received new action goal ×2 + 12.00sINFOros2_control_node[2026-07-30 15:05:00.028] [info] Accepted new action goal ×2 + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789634 ms (missed cycles : 2). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789634 ms (missed cycles : 2).[0m ×2 + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740922 ms (missed cycles : 6). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740922 ms (missed cycles : 6).[0m ×2 + 14.24sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785423902.27768970 seconds ×3 + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181484 ms (missed cycles : 2). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181484 ms (missed cycles : 2).[0m ×2 + 14.94sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785423902.97325587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.11sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 15.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.14sINFOros2_control_node[2026-07-30 15:05:03.162] [info] Received new action goal ×2 + 15.14sINFOros2_control_node[2026-07-30 15:05:03.162] [info] Accepted new action goal ×2 + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963287 ms (missed cycles : 5). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963287 ms (missed cycles : 5).[0m ×2 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665715 ms (missed cycles : 3). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665715 ms (missed cycles : 3).[0m ×2 + 17.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840868 ms (missed cycles : 5). + 17.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840868 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 3 errors · 63 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083609 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083609 ms (missed cycles : 4).[0m ×2 + 0.15sINFOros2_control_node[2026-07-30 15:07:32.710] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-07-30 15:07:32.710] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317941 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317941 ms (missed cycles : 4).[0m ×2 + 1.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.82sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.82sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.83sINFOros2_control_node[2026-07-30 15:07:34.387] [info] Received new action goal ×2 + 1.83sINFOros2_control_node[2026-07-30 15:07:34.387] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074509 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074509 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316137 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316137 ms (missed cycles : 4).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785424055.67295551 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.80sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.80sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.80sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 3.83sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785424056.38948750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-07-30 15:07:36.598] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-07-30 15:07:36.598] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709119 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709119 ms (missed cycles : 4).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675270 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675270 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817215 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817215 ms (missed cycles : 5).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.151465 ms (missed cycles : 7). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.151465 ms (missed cycles : 7).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680542 ms (missed cycles : 3). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680542 ms (missed cycles : 3).[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.607069 ms (missed cycles : 12). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.607069 ms (missed cycles : 12).[0m ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.275617 ms (missed cycles : 7). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.275617 ms (missed cycles : 7).[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.084926 ms (missed cycles : 7). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.084926 ms (missed cycles : 7).[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489882 ms (missed cycles : 3). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489882 ms (missed cycles : 3).[0m ×2 + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683716 ms (missed cycles : 2). + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683716 ms (missed cycles : 2).[0m ×2 + 14.15sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785424066.71000147 seconds ×3 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549485 ms (missed cycles : 3). + 14.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549485 ms (missed cycles : 3).[0m ×2 + 14.74sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1785424067.29586077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.98sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 14.98sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.00sINFOros2_control_node[2026-07-30 15:07:47.554] [info] Received new action goal ×2 + 15.00sINFOros2_control_node[2026-07-30 15:07:47.554] [info] Accepted new action goal ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265439 ms (missed cycles : 4). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265439 ms (missed cycles : 4).[0m ×2 + 16.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362469 ms (missed cycles : 3). + 16.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362469 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.9s | 63 warnings · 143 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772007 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772007 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299750 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299750 ms (missed cycles : 4).[0m ×2 + 1.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 1.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.096445 ms (missed cycles : 7). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.096445 ms (missed cycles : 7).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785424044.77944899 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554504 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554504 ms (missed cycles : 3).[0m ×2 + 3.18sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.18sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.18sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 3.27sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785424045.48277068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.50sINFOros2_control_node[2026-07-30 15:07:25.716] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-07-30 15:07:25.717] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673639 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673639 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354399 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354399 ms (missed cycles : 4).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902782 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902782 ms (missed cycles : 5).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.588525 ms (missed cycles : 6). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.588525 ms (missed cycles : 6).[0m ×2 + 7.87sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.87sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.88sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.14sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 8.14sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.14sINFOobjective_server_nodeFound path in 0 iterations (1.3e-07 s). ×2 + 8.15sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.15sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). ×2 + 8.18sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 8.19sINFOobjective_server_nodeFound path in 5 iterations (0.00284328 s). ×2 + 8.23sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 8.26sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.27sINFOros2_control_node[2026-07-30 15:07:30.488] [info] Received new action goal ×2 + 8.27sINFOros2_control_node[2026-07-30 15:07:30.488] [info] Accepted new action goal ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356807 ms (missed cycles : 3). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356807 ms (missed cycles : 3).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940256 ms (missed cycles : 2). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940256 ms (missed cycles : 2).[0m ×2 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083609 ms (missed cycles : 4). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083609 ms (missed cycles : 4).[0m ×2 + 10.50sINFOros2_control_node[2026-07-30 15:07:32.710] [info] Received new action goal ×2 + 10.50sINFOros2_control_node[2026-07-30 15:07:32.710] [info] Accepted new action goal ×2 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317941 ms (missed cycles : 4). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317941 ms (missed cycles : 4).[0m ×2 + 12.16sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 12.16sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.17sINFOros2_control_node[2026-07-30 15:07:34.387] [info] Received new action goal ×2 + 12.17sINFOros2_control_node[2026-07-30 15:07:34.387] [info] Accepted new action goal ×2 + 12.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074509 ms (missed cycles : 4). + 12.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074509 ms (missed cycles : 4).[0m ×2 + 13.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316137 ms (missed cycles : 4). + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316137 ms (missed cycles : 4).[0m ×2 + 13.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785424055.67295551 seconds ×3 + 14.17sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785424056.38948750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.34sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 14.38sINFOros2_control_node[2026-07-30 15:07:36.598] [info] Received new action goal ×2 + 14.38sINFOros2_control_node[2026-07-30 15:07:36.598] [info] Accepted new action goal ×2 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709119 ms (missed cycles : 4). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709119 ms (missed cycles : 4).[0m ×2 + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675270 ms (missed cycles : 2). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675270 ms (missed cycles : 2).[0m ×2 + 16.31sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817215 ms (missed cycles : 5). + 16.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817215 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 10.7s | 6 errors · 60 warnings · 226 info |
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.00sINFOobjective_server_nodeFound detection with id: 0, label: %s ×6 + 0.01sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×4 + 0.27sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.28sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 0.28sINFOobjective_server_nodePath shortcutter: [X________________X] ×4 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.33sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×4 + 0.36sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×6 + 0.38sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×4 + 0.43sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×4 + 0.45sINFOobjective_server_nodeFound path in 5 iterations (0.00288542 s). ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486355 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486355 ms (missed cycles : 3).[0m ×2 + 0.48sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X____________X] ×4 + 0.50sINFOobjective_server_nodeFound path in 1 iterations (0.00204528 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_________________________X] ×4 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×4 + 0.64sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×4 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.74sINFOros2_control_node[2026-07-30 15:05:11.128] [info] Received new action goal ×2 + 0.74sINFOros2_control_node[2026-07-30 15:05:11.128] [info] Accepted new action goal ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523430 ms (missed cycles : 3). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523430 ms (missed cycles : 3).[0m ×2 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496526 ms (missed cycles : 3). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496526 ms (missed cycles : 3).[0m ×2 + 2.91sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 2.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.19sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 3.19sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 3.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785423913.60520196 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.896074 ms (missed cycles : 8). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.896074 ms (missed cycles : 8).[0m ×2 + 3.80sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.80sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.80sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 3.83sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1785423914.22622228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.03sINFOros2_control_node[2026-07-30 15:05:14.420] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-07-30 15:05:14.420] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658604 ms (missed cycles : 4). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658604 ms (missed cycles : 4).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114638 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114638 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403142 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403142 ms (missed cycles : 3).[0m ×2 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064902 ms (missed cycles : 2). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064902 ms (missed cycles : 2).[0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.383543 ms (missed cycles : 6). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.383543 ms (missed cycles : 6).[0m ×2 + 9.05sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 9.06sINFOobjective_server_nodeFound path in 0 iterations (1.1e-07 s). ×2 + 9.06sINFOobjective_server_nodeFound path in 0 iterations (5.8e-07 s). ×2 + 9.11sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 9.15sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×4 + 9.19sINFOobjective_server_nodeFound path in 5 iterations (0.00418905 s). ×2 + 9.24sINFOobjective_server_nodeFound path in 1 iterations (0.00203353 s). ×2 + 9.30sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). ×2 + 9.46sINFOros2_control_node[2026-07-30 15:05:19.852] [info] Received new action goal ×2 + 9.46sINFOros2_control_node[2026-07-30 15:05:19.852] [info] Accepted new action goal ×2 + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892840 ms (missed cycles : 2). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892840 ms (missed cycles : 2).[0m ×2 + 10.61sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.150137 ms (missed cycles : 7). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.150137 ms (missed cycles : 7).[0m ×2 + 11.90sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.90sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 11.90sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.94sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 11.97sINFOobjective_server_nodeFound path in 5 iterations (0.00459553 s). ×2 + 12.01sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 12.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937182 ms (missed cycles : 2). + 12.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937182 ms (missed cycles : 2).[0m ×2 + 12.06sINFOros2_control_node[2026-07-30 15:05:22.452] [info] Received new action goal ×2 + 12.06sINFOros2_control_node[2026-07-30 15:05:22.452] [info] Accepted new action goal ×2 + 12.45sINFOros2_control_node[2026-07-30 15:05:22.844] [info] Received new action goal ×2 + 12.45sINFOros2_control_node[2026-07-30 15:05:22.844] [info] Accepted new action goal ×2 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565269 ms (missed cycles : 2). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565269 ms (missed cycles : 2).[0m ×2 + 13.92sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.92sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.93sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.93sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785423924.33617592 seconds ×3 + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643189 ms (missed cycles : 2). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643189 ms (missed cycles : 2).[0m ×2 + 14.76sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1785423925.14785504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.87sINFOros2_control_node[2026-07-30 15:05:25.261] [info] Received new action goal ×2 + 14.87sINFOros2_control_node[2026-07-30 15:05:25.261] [info] Accepted new action goal ×2 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078150 ms (missed cycles : 4). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078150 ms (missed cycles : 4).[0m ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066311 ms (missed cycles : 4). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066311 ms (missed cycles : 4).[0m ×2 + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.721230 ms (missed cycles : 5). + 17.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.721230 ms (missed cycles : 5).[0m ×2 + 17.27sINFOros2_control_node[2026-07-30 15:05:27.660] [info] Received new action goal ×2 + 17.27sINFOros2_control_node[2026-07-30 15:05:27.660] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 75 warnings · 293 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720762 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720762 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607717 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607717 ms (missed cycles : 3).[0m ×2 + 1.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785424088.21264124 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578587 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578587 ms (missed cycles : 4).[0m ×2 + 2.26sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×7 + 2.26sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 2.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×14 + 2.26sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785424088.82171702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785424088.90189314 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785424089.49543548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785424089.52795482 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265684 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265684 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785424090.19878006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.74sINFOros2_control_node[2026-07-30 15:08:10.302] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-07-30 15:08:10.302] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709888 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709888 ms (missed cycles : 2).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746879 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746879 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765790 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765790 ms (missed cycles : 2).[0m ×2 + 7.04sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.04sINFOros2_control_node[2026-07-30 15:08:13.602] [info] Received new action goal ×2 + 7.04sINFOros2_control_node[2026-07-30 15:08:13.602] [info] Accepted new action goal ×2 + 7.05sINFOros2_control_node[2026-07-30 15:08:13.602] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441739 ms (missed cycles : 4). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441739 ms (missed cycles : 4).[0m ×2 + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.698236 ms (missed cycles : 6). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.698236 ms (missed cycles : 6).[0m ×2 + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200321 ms (missed cycles : 5). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200321 ms (missed cycles : 5).[0m ×2 + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787421 ms (missed cycles : 2). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787421 ms (missed cycles : 2).[0m ×2 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257384 ms (missed cycles : 3). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257384 ms (missed cycles : 3).[0m ×2 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234377 ms (missed cycles : 5). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234377 ms (missed cycles : 5).[0m ×2 + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329992 ms (missed cycles : 2). + 13.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329992 ms (missed cycles : 2).[0m ×2 + 13.66sINFOros2_control_node[2026-07-30 15:08:20.219] [info] Got request to cancel active goal. ×2 + 13.66sINFOros2_control_node[2026-07-30 15:08:20.219] [info] Canceling active goal... ×2 + 13.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785424100.22339678 seconds ×3 + 14.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785424100.81444049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546626 ms (missed cycles : 3). + 14.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546626 ms (missed cycles : 3).[0m ×2 + 14.44sINFOros2_control_nodeMuJoCo sim: 0.53% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785424101.50458646 seconds ×3 + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177615 ms (missed cycles : 5). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177615 ms (missed cycles : 5).[0m ×2 + 15.55sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785424102.11152220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.55sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.55sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 15.55sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.55sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785424102.11330104 seconds ×3 + 16.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785424102.84421039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785424102.84474969 seconds ×3 + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197804 ms (missed cycles : 2). + 16.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197804 ms (missed cycles : 2).[0m ×2 + 16.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785424103.42584443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 60 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.084926 ms (missed cycles : 7). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.084926 ms (missed cycles : 7).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489882 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489882 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683716 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683716 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785424066.71000147 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549485 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549485 ms (missed cycles : 3).[0m ×2 + 3.25sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.25sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.25sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 3.26sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1785424067.29586077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 3.50sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.52sINFOros2_control_node[2026-07-30 15:07:47.554] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-07-30 15:07:47.554] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265439 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265439 ms (missed cycles : 4).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362469 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362469 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.177336 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.177336 ms (missed cycles : 5).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925302 ms (missed cycles : 3). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925302 ms (missed cycles : 3).[0m ×2 + 7.55sINFOros2_control_node[2026-07-30 15:07:51.592] [info] Received new action goal ×2 + 7.55sINFOros2_control_node[2026-07-30 15:07:51.592] [info] Accepted new action goal ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510841 ms (missed cycles : 5). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510841 ms (missed cycles : 5).[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649308 ms (missed cycles : 3). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649308 ms (missed cycles : 3).[0m ×2 + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504028 ms (missed cycles : 3). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504028 ms (missed cycles : 3).[0m ×2 + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529907 ms (missed cycles : 3). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529907 ms (missed cycles : 3).[0m ×2 + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826545 ms (missed cycles : 5). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826545 ms (missed cycles : 5).[0m ×2 + 13.14sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1785424077.18301320 seconds ×3 + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.133649 ms (missed cycles : 7). + 13.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.133649 ms (missed cycles : 7).[0m ×2 + 13.78sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1785424077.82236505 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.88sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 13.90sINFOros2_control_node[2026-07-30 15:07:57.936] [info] Received new action goal ×2 + 13.90sINFOros2_control_node[2026-07-30 15:07:57.936] [info] Accepted new action goal ×2 + 14.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396321 ms (missed cycles : 2). + 14.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396321 ms (missed cycles : 2).[0m ×2 + 15.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670528 ms (missed cycles : 3). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670528 ms (missed cycles : 3).[0m ×2 + 15.81sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 15.81sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912529 ms (missed cycles : 2). + 16.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912529 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 9.9s | 24 errors · 66 warnings · 263 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159377 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159377 ms (missed cycles : 5).[0m ×2 + 0.12sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×24 + 0.13sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 0.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465667 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465667 ms (missed cycles : 3).[0m ×2 + 1.14sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785424003.13620090 seconds ×3 + 1.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.15sINFOcontroller_managerSuccessfully switched controllers! ×11 + 1.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 1.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.72sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 1.72sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 1.72sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 1.76sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785424003.75417876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×9 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×3 + 1.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 1.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×6 + 1.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×3 + 1.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×6 + 1.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 1.89sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 1.90sINFOros2_control_node[2026-07-30 15:06:43.898] [info] Received new action goal ×2 + 1.90sINFOros2_control_node[2026-07-30 15:06:43.898] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948299 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948299 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519366 ms (missed cycles : 6). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519366 ms (missed cycles : 6).[0m ×2 + 3.21sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 3.22sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.44sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785424005.43956566 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785424006.06548667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795698 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795698 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.23sINFOros2_control_node[2026-07-30 15:06:46.229] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-07-30 15:06:46.229] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232525 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232525 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159131 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159131 ms (missed cycles : 2).[0m ×2 + 6.84sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 6.84sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 6.85sINFOros2_control_node[2026-07-30 15:06:48.845] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-07-30 15:06:48.845] [info] Accepted new action goal ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981093 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981093 ms (missed cycles : 2).[0m ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885742 ms (missed cycles : 3). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885742 ms (missed cycles : 3).[0m ×2 + 8.86sINFOros2_control_node[2026-07-30 15:06:50.860] [info] Received new action goal ×2 + 8.86sINFOros2_control_node[2026-07-30 15:06:50.860] [info] Accepted new action goal ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430509 ms (missed cycles : 3). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430509 ms (missed cycles : 3).[0m ×2 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160160 ms (missed cycles : 4). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160160 ms (missed cycles : 4).[0m ×2 + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.678852 ms (missed cycles : 7). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.678852 ms (missed cycles : 7).[0m ×2 + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973653 ms (missed cycles : 3). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973653 ms (missed cycles : 3).[0m ×2 + 13.31sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1785424015.30857944 seconds ×3 + 13.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407649 ms (missed cycles : 2). + 13.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407649 ms (missed cycles : 2).[0m ×2 + 14.08sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1785424016.07927060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 14.25sINFOobjective_server_nodeFound path in 5 iterations (0.00557202 s). ×2 + 14.30sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 14.32sINFOros2_control_node[2026-07-30 15:06:56.314] [info] Received new action goal ×2 + 14.32sINFOros2_control_node[2026-07-30 15:06:56.314] [info] Accepted new action goal ×2 + 14.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380561 ms (missed cycles : 4). + 14.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380561 ms (missed cycles : 4).[0m ×2 + 15.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.463737 ms (missed cycles : 10). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.463737 ms (missed cycles : 10).[0m ×2 + 16.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457904 ms (missed cycles : 3). + 16.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457904 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 4.4s | 42 warnings · 130 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785423937.75338864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.13sINFOros2_control_node[2026-07-30 15:05:37.877] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-07-30 15:05:37.877] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446935 ms (missed cycles : 3). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446935 ms (missed cycles : 3).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547119 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547119 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785423939.88358855 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069259 ms (missed cycles : 5). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069259 ms (missed cycles : 5).[0m ×2 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246767 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246767 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785423941.46905589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000258 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000258 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_node[2026-07-30 15:05:42.246] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.08sINFOobjective_server_node[0;93m2026-07-30 15:05:42.823568822 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.08sINFOobjective_server_node[0;93m2026-07-30 15:05:42.823624303 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.22sINFOobjective_server_node[2026-07-30 15:05:42.970] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253219 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253219 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_node[0;93m2026-07-30 15:05:43.418508470 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.67sINFOobjective_server_node[0;93m2026-07-30 15:05:43.418539120 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.75sINFOobjective_server_node[2026-07-30 15:05:43.495] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.79sINFOobjective_server_node[0;93m2026-07-30 15:05:43.535690480 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 5.79sINFOobjective_server_node[0;93m2026-07-30 15:05:43.537802856 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.79sINFOobjective_server_node[0;93m2026-07-30 15:05:43.537821457 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.80sINFOobjective_server_node[2026-07-30 15:05:43.550] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.10sINFOobjective_server_node[0;93m2026-07-30 15:05:43.845111547 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 6.11sINFOobjective_server_node[0;93m2026-07-30 15:05:43.859525626 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.11sINFOobjective_server_node[0;93m2026-07-30 15:05:43.859557897 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362410 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362410 ms (missed cycles : 4).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955389 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955389 ms (missed cycles : 2).[0m ×2 + 7.54sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785423945.28951025 seconds ×3 + 8.22sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785423945.97182131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 8.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 8.30sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 8.31sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959584 ms (missed cycles : 2). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959584 ms (missed cycles : 2).[0m ×2 + 8.58sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 8.58sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 8.62sINFOros2_control_node[2026-07-30 15:05:46.368] [info] Received new action goal ×2 + 8.62sINFOros2_control_node[2026-07-30 15:05:46.368] [info] Accepted new action goal ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031634 ms (missed cycles : 2). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031634 ms (missed cycles : 2).[0m ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498809 ms (missed cycles : 3). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498809 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.9s | 42 warnings · 162 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151673 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151673 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492154 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492154 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513373 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513373 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785423936.22407651 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.96sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 2.96sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.96sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 2.97sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785423936.88562393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.01sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785423936.95577168 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155276 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155276 ms (missed cycles : 4).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785423937.75338864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.96sINFOros2_control_node[2026-07-30 15:05:37.877] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-07-30 15:05:37.877] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446935 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446935 ms (missed cycles : 3).[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547119 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547119 ms (missed cycles : 3).[0m ×2 + 5.97sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785423939.88358855 seconds ×3 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069259 ms (missed cycles : 5). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069259 ms (missed cycles : 5).[0m ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246767 ms (missed cycles : 3). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246767 ms (missed cycles : 3).[0m ×2 + 7.55sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785423941.46905589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000258 ms (missed cycles : 2). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000258 ms (missed cycles : 2).[0m ×2 + 8.33sINFOobjective_server_node[2026-07-30 15:05:42.246] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.91sINFOobjective_server_node[0;93m2026-07-30 15:05:42.823568822 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 8.91sINFOobjective_server_node[0;93m2026-07-30 15:05:42.823624303 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.05sINFOobjective_server_node[2026-07-30 15:05:42.970] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253219 ms (missed cycles : 3). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253219 ms (missed cycles : 3).[0m ×2 + 9.50sINFOobjective_server_node[0;93m2026-07-30 15:05:43.418508470 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.50sINFOobjective_server_node[0;93m2026-07-30 15:05:43.418539120 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.58sINFOobjective_server_node[2026-07-30 15:05:43.495] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.62sINFOobjective_server_node[0;93m2026-07-30 15:05:43.535690480 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 9.62sINFOobjective_server_node[0;93m2026-07-30 15:05:43.537802856 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.62sINFOobjective_server_node[0;93m2026-07-30 15:05:43.537821457 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.63sINFOobjective_server_node[2026-07-30 15:05:43.550] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.93sINFOobjective_server_node[0;93m2026-07-30 15:05:43.845111547 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 9.94sINFOobjective_server_node[0;93m2026-07-30 15:05:43.859525626 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.94sINFOobjective_server_node[0;93m2026-07-30 15:05:43.859557897 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362410 ms (missed cycles : 4). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362410 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 3.4s | 21 errors · 39 warnings · 233 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539358 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539358 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.239391 ms (missed cycles : 7). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.239391 ms (missed cycles : 7).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826214 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826214 ms (missed cycles : 5).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785423999.69488573 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.590847 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.590847 ms (missed cycles : 4).[0m ×2 + 3.61sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 3.61sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 3.62sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785424000.34300327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.78sINFOros2_control_node[2026-07-30 15:06:40.506] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-07-30 15:06:40.506] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.898097 ms (missed cycles : 8). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.898097 ms (missed cycles : 8).[0m ×2 + 5.07sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 5.07sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159377 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159377 ms (missed cycles : 5).[0m ×2 + 5.39sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 5.40sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465667 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465667 ms (missed cycles : 3).[0m ×2 + 6.41sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785424003.13620090 seconds ×3 + 6.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 6.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 7.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785424003.75417876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 7.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 7.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 7.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 7.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 7.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.16sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 7.17sINFOros2_control_node[2026-07-30 15:06:43.898] [info] Received new action goal ×2 + 7.17sINFOros2_control_node[2026-07-30 15:06:43.898] [info] Accepted new action goal ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948299 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948299 ms (missed cycles : 2).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519366 ms (missed cycles : 6). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519366 ms (missed cycles : 6).[0m ×2 + 8.71sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785424005.43956566 seconds ×3 + 9.34sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785424006.06548667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795698 ms (missed cycles : 2). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795698 ms (missed cycles : 2).[0m ×2 + 9.49sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 9.49sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 9.50sINFOros2_control_node[2026-07-30 15:06:46.229] [info] Received new action goal ×2 + 9.50sINFOros2_control_node[2026-07-30 15:06:46.229] [info] Accepted new action goal ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 2.3s | 21 errors · 39 warnings · 240 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785423999.69488573 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.590847 ms (missed cycles : 4). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.590847 ms (missed cycles : 4).[0m ×2 + 0.64sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 0.64sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 0.64sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.65sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785424000.34300327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 0.81sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 0.81sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 0.81sINFOros2_control_node[2026-07-30 15:06:40.506] [info] Received new action goal ×2 + 0.81sINFOros2_control_node[2026-07-30 15:06:40.506] [info] Accepted new action goal ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.898097 ms (missed cycles : 8). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.898097 ms (missed cycles : 8).[0m ×2 + 2.10sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 2.10sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 2.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159377 ms (missed cycles : 5). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159377 ms (missed cycles : 5).[0m ×2 + 2.42sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 2.43sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465667 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465667 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785424003.13620090 seconds ×3 + 3.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.06sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785424003.75417876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 4.20sINFOros2_control_node[2026-07-30 15:06:43.898] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-07-30 15:06:43.898] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948299 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948299 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519366 ms (missed cycles : 6). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519366 ms (missed cycles : 6).[0m ×2 + 5.74sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785424005.43956566 seconds ×3 + 6.37sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785424006.06548667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795698 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795698 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 6.52sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 6.54sINFOros2_control_node[2026-07-30 15:06:46.229] [info] Received new action goal ×2 + 6.54sINFOros2_control_node[2026-07-30 15:06:46.229] [info] Accepted new action goal ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232525 ms (missed cycles : 4). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232525 ms (missed cycles : 4).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159131 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159131 ms (missed cycles : 2).[0m ×2 + 9.14sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 9.14sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 9.15sINFOros2_control_node[2026-07-30 15:06:48.845] [info] Received new action goal ×2 + 9.15sINFOros2_control_node[2026-07-30 15:06:48.845] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.6s | 61 warnings · 599 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687287 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687287 ms (missed cycles : 2).[0m ×2 + 0.06sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 0.10sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 0.11sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.11sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.15sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 0.15sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.15sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.15sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.16sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.17sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.21sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.28sINFOmove_group ×4 + 0.28sINFOmove_group[92mYou can start planning now![0m ×2 + 0.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.91sINFOobjective_server_node[2026-07-30 15:04:10.605] [moveit_pro_license] [info] ×2 + 0.91sINFOobjective_server_node************************************************* ×4 + 0.91sINFOobjective_server_node* MoveIt Pro License ×2 + 0.91sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 1.00sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 1.00sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 1.01sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 1.01sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 1.01sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 1.01sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 1.01sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 1.01sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 1.01sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 1.01sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 1.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 1.14sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 1.15sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 1.28sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 1.28sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 1.28sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 1.28sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 1.28sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 1.28sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 1.28sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 1.28sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 1.28sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 1.28sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 1.28sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 1.28sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 1.28sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 1.28sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.37sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.42sINFOcomponent_container_mt[2026-07-30 15:04:11.114] [moveit_pro_license] [info] ×2 + 1.42sINFOcomponent_container_mt************************************************* ×4 + 1.42sINFOcomponent_container_mt* MoveIt Pro License ×2 + 1.42sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 1.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 1.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 1.46sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.46sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.47sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.49sINFOros2_control_node[2026-07-30 15:04:11.189] [info] Controller state will be published at 20 Hz. ×2 + 1.49sINFOros2_control_node[2026-07-30 15:04:11.190] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937876 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937876 ms (missed cycles : 3).[0m ×2 + 1.80sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.80sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.80sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.80sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.80sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 1.80sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 1.82sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.82sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.85sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.85sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.86sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.86sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.86sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.86sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.86sINFOros2-8process has finished cleanly [pid 9073] ×2 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×21 + 1.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 1.87sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.87sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.16sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.16sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.16sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.18sINFOros2-3process has finished cleanly [pid 9068] ×2 + 2.21sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 2.21sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 2.25sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.25sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.25sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.25sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.26sINFOros2_control_node[2026-07-30 15:04:11.951] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.26sINFOros2_control_node[2026-07-30 15:04:11.951] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.28sINFOros2_control_node[2026-07-30 15:04:11.974] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.28sINFOros2_control_node[2026-07-30 15:04:11.974] [info] Controller state will be published at 50 Hz. ×2 + 2.28sINFOros2_control_node[2026-07-30 15:04:11.979] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.38sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 2.43sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 2.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 2.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 2.58sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.58sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.58sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.58sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.58sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 2.58sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 2.62sINFOros2-6process has finished cleanly [pid 9071] ×2 + 2.64sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.64sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.64sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.64sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.64sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.64sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.64sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.64sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.64sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.64sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.65sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.65sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.65sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.65sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.65sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.65sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.94sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.94sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.94sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.94sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.97sINFOros2-5process has finished cleanly [pid 9070] ×2 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166919 ms (missed cycles : 4). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166919 ms (missed cycles : 4).[0m ×2 + 3.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 3.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 3.04sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.04sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 3.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 3.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 3.06sINFOros2_control_node[2026-07-30 15:04:12.760] [info] Controller state will be published at 10 Hz. ×2 + 3.06sINFOros2_control_node[2026-07-30 15:04:12.761] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.12sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×7 + 3.12sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 3.12sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×14 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785423852.81682158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785423852.82702589 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.38sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 3.38sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.38sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 3.38sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.38sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 3.38sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 3.38sINFOros2-7process has finished cleanly [pid 9072] ×2 + 3.42sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.42sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.42sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 3.42sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 3.43sINFOforce_torque_sensor_broadcasterconfigure successful + 3.43sINFOros2_control_nodeconfigure successful[0m ×2 + 3.43sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 3.43sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 3.44sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.44sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.74sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 3.74sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.74sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 3.75sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 3.75sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 3.75sINFOros2-2process has finished cleanly [pid 9067] ×2 + 3.75sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 3.79sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.79sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 3.79sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 3.79sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.79sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 3.79sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 3.79sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 3.79sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 3.79sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 3.79sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 3.79sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 3.79sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 3.80sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 3.80sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.80sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 4.11sINFOros2-4process has finished cleanly [pid 9069] ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 6.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 7.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 8.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.19sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 8.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 8.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.28sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 8.28sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.3s | 3 errors · 39 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787421 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787421 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257384 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257384 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234377 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234377 ms (missed cycles : 5).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329992 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329992 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOros2_control_node[2026-07-30 15:08:20.219] [info] Got request to cancel active goal. ×2 + 3.37sINFOros2_control_node[2026-07-30 15:08:20.219] [info] Canceling active goal... ×2 + 3.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785424100.22339678 seconds ×3 + 3.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.96sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 3.96sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.96sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×8 + 3.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785424100.81444049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546626 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546626 ms (missed cycles : 3).[0m ×2 + 4.16sINFOros2_control_nodeMuJoCo sim: 0.53% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785424101.50458646 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177615 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177615 ms (missed cycles : 5).[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785424102.11152220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.27sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.27sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.27sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785424102.11330104 seconds ×3 + 6.00sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785424102.84421039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785424102.84474969 seconds ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197804 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197804 ms (missed cycles : 2).[0m ×2 + 6.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785424103.42584443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695020 ms (missed cycles : 3). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695020 ms (missed cycles : 3).[0m ×2 + 7.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785424104.62600470 seconds ×3 + 7.81sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.7s | 3 errors · 37 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257384 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257384 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234377 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234377 ms (missed cycles : 5).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329992 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329992 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOros2_control_node[2026-07-30 15:08:20.219] [info] Got request to cancel active goal. ×2 + 2.33sINFOros2_control_node[2026-07-30 15:08:20.219] [info] Canceling active goal... ×2 + 2.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785424100.22339678 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.92sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 2.92sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.92sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×8 + 2.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785424100.81444049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546626 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546626 ms (missed cycles : 3).[0m ×2 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.53% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785424101.50458646 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177615 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177615 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785424102.11152220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.22sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.22sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.22sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785424102.11330104 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785424102.84421039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785424102.84474969 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197804 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197804 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785424103.42584443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695020 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695020 ms (missed cycles : 3).[0m ×2 + 6.73sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785424104.62600470 seconds ×3 + 6.76sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152514 ms (missed cycles : 2). | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 30 warnings · 91 info |
+ 0.00sINFOros2_control_node[2026-07-30 15:04:47.578] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-07-30 15:04:47.578] [info] Accepted new action goal ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905992 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905992 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087751 ms (missed cycles : 4). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087751 ms (missed cycles : 4).[0m ×2 + 1.66sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-07-30 15:04:49.251] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-07-30 15:04:49.251] [info] Accepted new action goal ×2 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.231734 ms (missed cycles : 7). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.231734 ms (missed cycles : 7).[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785423890.53836322 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.55sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.55sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.55sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110081 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110081 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785423891.15778208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785423891.25015831 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785423891.89705515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.43sINFOros2_control_node[2026-07-30 15:04:52.010] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-07-30 15:04:52.011] [info] Accepted new action goal ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789037 ms (missed cycles : 6). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789037 ms (missed cycles : 6).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938561 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938561 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754968 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754968 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 30 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.182753 ms (missed cycles : 7). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.182753 ms (missed cycles : 7).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.211694 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.211694 ms (missed cycles : 7).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488650 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488650 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.37sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×4 + 2.38sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.39sINFOros2_control_node[2026-07-30 15:04:27.575] [info] Received new action goal ×2 + 2.39sINFOros2_control_node[2026-07-30 15:04:27.575] [info] Accepted new action goal ×2 + 3.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOros2_control_node[2026-07-30 15:04:28.312] [info] Got request to cancel active goal. ×2 + 3.12sINFOros2_control_node[2026-07-30 15:04:28.312] [info] Canceling active goal... ×2 + 3.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785423868.32735395 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124637 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124637 ms (missed cycles : 2).[0m ×2 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.72sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 3.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785423868.91207409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785423869.02234864 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.092329 ms (missed cycles : 7). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.092329 ms (missed cycles : 7).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785423869.64818311 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.66sINFOros2_control_node[2026-07-30 15:04:29.851] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-07-30 15:04:29.851] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360548 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360548 ms (missed cycles : 6).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244847 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244847 ms (missed cycles : 4).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.367142 ms (missed cycles : 5). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.367142 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 30 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672165 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672165 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720762 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720762 ms (missed cycles : 6).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607717 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607717 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785424088.21264124 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578587 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578587 ms (missed cycles : 4).[0m ×2 + 3.26sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 3.26sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785424088.82171702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785424088.90189314 seconds ×3 + 3.94sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785424089.49543548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785424089.52795482 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265684 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265684 ms (missed cycles : 4).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785424090.19878006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.75sINFOros2_control_node[2026-07-30 15:08:10.302] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-07-30 15:08:10.302] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709888 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709888 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746879 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746879 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 56 warnings · 474 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937876 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937876 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.08sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.08sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.08sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.08sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.08sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.10sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.10sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.13sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.13sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.13sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.13sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.13sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.14sINFOros2-8process has finished cleanly [pid 9073] ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.14sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.14sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.43sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.43sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.43sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.46sINFOros2-3process has finished cleanly [pid 9068] ×2 + 0.49sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.49sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.53sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.53sINFOros2_control_node[2026-07-30 15:04:11.951] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.53sINFOros2_control_node[2026-07-30 15:04:11.951] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.54sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.56sINFOros2_control_node[2026-07-30 15:04:11.974] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.56sINFOros2_control_node[2026-07-30 15:04:11.974] [info] Controller state will be published at 50 Hz. ×2 + 0.56sINFOros2_control_node[2026-07-30 15:04:11.979] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.66sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.70sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.85sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.85sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.85sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.86sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.86sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.90sINFOros2-6process has finished cleanly [pid 9071] ×2 + 0.92sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.92sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.92sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.92sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.92sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.92sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.92sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.92sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.92sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.92sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.92sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.92sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.92sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.93sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.93sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.21sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.21sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.21sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.21sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.24sINFOros2-5process has finished cleanly [pid 9070] ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166919 ms (missed cycles : 4). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166919 ms (missed cycles : 4).[0m ×2 + 1.27sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 1.27sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 1.31sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.31sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.32sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.32sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.34sINFOros2_control_node[2026-07-30 15:04:12.760] [info] Controller state will be published at 10 Hz. ×2 + 1.34sINFOros2_control_node[2026-07-30 15:04:12.761] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.39sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×7 + 1.39sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 1.39sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×14 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785423852.81682158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785423852.82702589 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.66sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.66sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.66sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.66sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.66sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 1.66sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 1.66sINFOros2-7process has finished cleanly [pid 9072] ×2 + 1.70sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.70sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.70sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.70sINFOforce_torque_sensor_broadcasterconfigure successful + 1.71sINFOros2_control_nodeconfigure successful[0m ×2 + 1.71sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.71sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.71sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.71sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.02sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.02sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.02sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.02sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.03sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 2.03sINFOros2-2process has finished cleanly [pid 9067] ×2 + 2.03sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 2.07sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.07sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.07sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.07sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.07sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.07sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.07sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 2.07sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.07sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.07sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.07sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.07sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 2.08sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.08sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.08sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.08sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.39sINFOros2-4process has finished cleanly [pid 9069] ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 6.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.46sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.55sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.56sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.6s | 30 warnings · 104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937755 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937755 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151673 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151673 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492154 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492154 ms (missed cycles : 3).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513373 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513373 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785423936.22407651 seconds ×3 + 3.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.97sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.97sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.97sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 3.98sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785423936.88562393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.02sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785423936.95577168 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155276 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155276 ms (missed cycles : 4).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785423937.75338864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.97sINFOros2_control_node[2026-07-30 15:05:37.877] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-07-30 15:05:37.877] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446935 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446935 ms (missed cycles : 3).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547119 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547119 ms (missed cycles : 3).[0m ×2 + 6.98sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785423939.88358855 seconds ×3 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069259 ms (missed cycles : 5). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069259 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 33 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672165 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672165 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720762 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720762 ms (missed cycles : 6).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607717 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607717 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785424088.21264124 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578587 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578587 ms (missed cycles : 4).[0m ×2 + 3.26sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 3.26sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785424088.82171702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785424088.90189314 seconds ×3 + 3.94sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785424089.49543548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785424089.52795482 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265684 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265684 ms (missed cycles : 4).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785424090.19878006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.75sINFOros2_control_node[2026-07-30 15:08:10.302] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-07-30 15:08:10.302] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709888 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709888 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746879 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746879 ms (missed cycles : 3).[0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765790 ms (missed cycles : 2). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765790 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 39 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234377 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234377 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329992 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329992 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOros2_control_node[2026-07-30 15:08:20.219] [info] Got request to cancel active goal. ×2 + 1.31sINFOros2_control_node[2026-07-30 15:08:20.219] [info] Canceling active goal... ×2 + 1.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785424100.22339678 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.89sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 1.89sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×8 + 1.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785424100.81444049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546626 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546626 ms (missed cycles : 3).[0m ×2 + 2.09sINFOros2_control_nodeMuJoCo sim: 0.53% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785424101.50458646 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177615 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177615 ms (missed cycles : 5).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785424102.11152220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.20sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.20sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.20sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785424102.11330104 seconds ×3 + 3.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785424102.84421039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785424102.84474969 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197804 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197804 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785424103.42584443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695020 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695020 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785424104.62600470 seconds ×3 + 5.74sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152514 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152514 ms (missed cycles : 2).[0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.014991 ms (missed cycles : 5). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.014991 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.1s | 27 warnings · 104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937755 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937755 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151673 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151673 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492154 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492154 ms (missed cycles : 3).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513373 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513373 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785423936.22407651 seconds ×3 + 3.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.97sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.97sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.97sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 3.98sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785423936.88562393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.02sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785423936.95577168 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155276 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155276 ms (missed cycles : 4).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785423937.75338864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.97sINFOros2_control_node[2026-07-30 15:05:37.877] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-07-30 15:05:37.877] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446935 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446935 ms (missed cycles : 3).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547119 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547119 ms (missed cycles : 3).[0m ×2 + 6.98sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785423939.88358855 seconds ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.1s | 30 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083609 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083609 ms (missed cycles : 4).[0m ×2 + 0.15sINFOros2_control_node[2026-07-30 15:07:32.710] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-07-30 15:07:32.710] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317941 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317941 ms (missed cycles : 4).[0m ×2 + 1.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.82sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.82sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.83sINFOros2_control_node[2026-07-30 15:07:34.387] [info] Received new action goal ×2 + 1.83sINFOros2_control_node[2026-07-30 15:07:34.387] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074509 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074509 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316137 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316137 ms (missed cycles : 4).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785424055.67295551 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.80sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.80sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.83sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785424056.38948750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-07-30 15:07:36.598] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-07-30 15:07:36.598] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709119 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709119 ms (missed cycles : 4).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675270 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675270 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817215 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817215 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 24 warnings · 81 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000258 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000258 ms (missed cycles : 2).[0m ×2 + 0.15sINFOobjective_server_node[2026-07-30 15:05:42.246] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.73sINFOobjective_server_node[0;93m2026-07-30 15:05:42.823568822 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.73sINFOobjective_server_node[0;93m2026-07-30 15:05:42.823624303 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.87sINFOobjective_server_node[2026-07-30 15:05:42.970] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253219 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253219 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_node[0;93m2026-07-30 15:05:43.418508470 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.32sINFOobjective_server_node[0;93m2026-07-30 15:05:43.418539120 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.40sINFOobjective_server_node[2026-07-30 15:05:43.495] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.44sINFOobjective_server_node[0;93m2026-07-30 15:05:43.535690480 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.44sINFOobjective_server_node[0;93m2026-07-30 15:05:43.537802856 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.44sINFOobjective_server_node[0;93m2026-07-30 15:05:43.537821457 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.45sINFOobjective_server_node[2026-07-30 15:05:43.550] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.75sINFOobjective_server_node[0;93m2026-07-30 15:05:43.845111547 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.76sINFOobjective_server_node[0;93m2026-07-30 15:05:43.859525626 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.76sINFOobjective_server_node[0;93m2026-07-30 15:05:43.859557897 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362410 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362410 ms (missed cycles : 4).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955389 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955389 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785423945.28951025 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.80sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.80sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785423945.97182131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959584 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959584 ms (missed cycles : 2).[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sINFOros2_control_node[2026-07-30 15:05:46.368] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-07-30 15:05:46.368] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031634 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031634 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498809 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498809 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 24 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025226 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025226 ms (missed cycles : 4).[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.54sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 0.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.55sINFOros2_control_node[2026-07-30 15:05:00.028] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-07-30 15:05:00.028] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789634 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740922 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740922 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785423902.27768970 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181484 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181484 ms (missed cycles : 2).[0m ×2 + 3.48sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.48sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.48sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785423902.97325587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.69sINFOros2_control_node[2026-07-30 15:05:03.162] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-07-30 15:05:03.162] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963287 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963287 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665715 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665715 ms (missed cycles : 3).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840868 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840868 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 24 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025226 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025226 ms (missed cycles : 4).[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.54sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 0.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.55sINFOros2_control_node[2026-07-30 15:05:00.028] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-07-30 15:05:00.028] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789634 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740922 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740922 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785423902.27768970 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181484 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181484 ms (missed cycles : 2).[0m ×2 + 3.48sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.48sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.48sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785423902.97325587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.69sINFOros2_control_node[2026-07-30 15:05:03.162] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-07-30 15:05:03.162] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963287 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963287 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665715 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665715 ms (missed cycles : 3).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840868 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840868 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 3 errors · 24 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160160 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160160 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.678852 ms (missed cycles : 7). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.678852 ms (missed cycles : 7).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973653 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973653 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 2.77sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.00sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 3.00sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1785424015.30857944 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407649 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407649 ms (missed cycles : 2).[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.69sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.69sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.69sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.77sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1785424016.07927060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOobjective_server_nodeFound path in 5 iterations (0.00557202 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.01sINFOros2_control_node[2026-07-30 15:06:56.314] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-07-30 15:06:56.314] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380561 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380561 ms (missed cycles : 4).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.463737 ms (missed cycles : 10). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.463737 ms (missed cycles : 10).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457904 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457904 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 27 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504028 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504028 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529907 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529907 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826545 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826545 ms (missed cycles : 5).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1785424077.18301320 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.133649 ms (missed cycles : 7). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.133649 ms (missed cycles : 7).[0m ×2 + 3.48sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.49sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.49sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.49sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1785424077.82236505 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.61sINFOros2_control_node[2026-07-30 15:07:57.936] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-07-30 15:07:57.936] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396321 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396321 ms (missed cycles : 2).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670528 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670528 ms (missed cycles : 3).[0m ×2 + 5.52sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.52sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912529 ms (missed cycles : 2). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912529 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 27 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.182753 ms (missed cycles : 7). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.182753 ms (missed cycles : 7).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.211694 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.211694 ms (missed cycles : 7).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488650 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488650 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.37sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×4 + 2.38sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.39sINFOros2_control_node[2026-07-30 15:04:27.575] [info] Received new action goal ×2 + 2.39sINFOros2_control_node[2026-07-30 15:04:27.575] [info] Accepted new action goal ×2 + 3.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOros2_control_node[2026-07-30 15:04:28.312] [info] Got request to cancel active goal. ×2 + 3.12sINFOros2_control_node[2026-07-30 15:04:28.312] [info] Canceling active goal... ×2 + 3.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785423868.32735395 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124637 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124637 ms (missed cycles : 2).[0m ×2 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.72sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 3.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785423868.91207409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785423869.02234864 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.092329 ms (missed cycles : 7). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.092329 ms (missed cycles : 7).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785423869.64818311 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.66sINFOros2_control_node[2026-07-30 15:04:29.851] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-07-30 15:04:29.851] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360548 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360548 ms (missed cycles : 6).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244847 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244847 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 27 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.182753 ms (missed cycles : 7). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.182753 ms (missed cycles : 7).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.211694 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.211694 ms (missed cycles : 7).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488650 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488650 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.37sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×4 + 2.38sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.39sINFOros2_control_node[2026-07-30 15:04:27.575] [info] Received new action goal ×2 + 2.39sINFOros2_control_node[2026-07-30 15:04:27.575] [info] Accepted new action goal ×2 + 3.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOros2_control_node[2026-07-30 15:04:28.312] [info] Got request to cancel active goal. ×2 + 3.12sINFOros2_control_node[2026-07-30 15:04:28.312] [info] Canceling active goal... ×2 + 3.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785423868.32735395 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124637 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124637 ms (missed cycles : 2).[0m ×2 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.72sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 3.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785423868.91207409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785423869.02234864 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.092329 ms (missed cycles : 7). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.092329 ms (missed cycles : 7).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785423869.64818311 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.66sINFOros2_control_node[2026-07-30 15:04:29.851] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-07-30 15:04:29.851] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360548 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360548 ms (missed cycles : 6).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244847 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244847 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 27 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.211694 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.211694 ms (missed cycles : 7).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488650 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488650 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.32sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×4 + 1.33sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.34sINFOros2_control_node[2026-07-30 15:04:27.575] [info] Received new action goal ×2 + 1.34sINFOros2_control_node[2026-07-30 15:04:27.575] [info] Accepted new action goal ×2 + 2.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOros2_control_node[2026-07-30 15:04:28.312] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-07-30 15:04:28.312] [info] Canceling active goal... ×2 + 2.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785423868.32735395 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124637 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124637 ms (missed cycles : 2).[0m ×2 + 2.67sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 2.67sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.67sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 2.67sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785423868.91207409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785423869.02234864 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.092329 ms (missed cycles : 7). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.092329 ms (missed cycles : 7).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785423869.64818311 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.61sINFOros2_control_node[2026-07-30 15:04:29.851] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-07-30 15:04:29.851] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360548 ms (missed cycles : 6). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360548 ms (missed cycles : 6).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244847 ms (missed cycles : 4). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244847 ms (missed cycles : 4).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.367142 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.367142 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 27 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.211694 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.211694 ms (missed cycles : 7).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488650 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488650 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.32sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×4 + 1.33sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.34sINFOros2_control_node[2026-07-30 15:04:27.575] [info] Received new action goal ×2 + 1.34sINFOros2_control_node[2026-07-30 15:04:27.575] [info] Accepted new action goal ×2 + 2.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOros2_control_node[2026-07-30 15:04:28.312] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-07-30 15:04:28.312] [info] Canceling active goal... ×2 + 2.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785423868.32735395 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124637 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124637 ms (missed cycles : 2).[0m ×2 + 2.67sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 2.67sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.67sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 2.67sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785423868.91207409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785423869.02234864 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.092329 ms (missed cycles : 7). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.092329 ms (missed cycles : 7).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785423869.64818311 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.61sINFOros2_control_node[2026-07-30 15:04:29.851] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-07-30 15:04:29.851] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360548 ms (missed cycles : 6). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360548 ms (missed cycles : 6).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244847 ms (missed cycles : 4). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244847 ms (missed cycles : 4).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.367142 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.367142 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 27 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.211694 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.211694 ms (missed cycles : 7).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488650 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488650 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.32sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×4 + 1.33sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.34sINFOros2_control_node[2026-07-30 15:04:27.575] [info] Received new action goal ×2 + 1.34sINFOros2_control_node[2026-07-30 15:04:27.575] [info] Accepted new action goal ×2 + 2.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOros2_control_node[2026-07-30 15:04:28.312] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-07-30 15:04:28.312] [info] Canceling active goal... ×2 + 2.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785423868.32735395 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124637 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124637 ms (missed cycles : 2).[0m ×2 + 2.67sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 2.67sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.67sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 2.67sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785423868.91207409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785423869.02234864 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.092329 ms (missed cycles : 7). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.092329 ms (missed cycles : 7).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785423869.64818311 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.61sINFOros2_control_node[2026-07-30 15:04:29.851] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-07-30 15:04:29.851] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360548 ms (missed cycles : 6). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360548 ms (missed cycles : 6).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244847 ms (missed cycles : 4). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244847 ms (missed cycles : 4).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.367142 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.367142 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 27 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.211694 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.211694 ms (missed cycles : 7).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488650 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488650 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.32sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×4 + 1.33sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.34sINFOros2_control_node[2026-07-30 15:04:27.575] [info] Received new action goal ×2 + 1.34sINFOros2_control_node[2026-07-30 15:04:27.575] [info] Accepted new action goal ×2 + 2.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOros2_control_node[2026-07-30 15:04:28.312] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-07-30 15:04:28.312] [info] Canceling active goal... ×2 + 2.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785423868.32735395 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124637 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124637 ms (missed cycles : 2).[0m ×2 + 2.67sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 2.67sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.67sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 2.67sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785423868.91207409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785423869.02234864 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.092329 ms (missed cycles : 7). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.092329 ms (missed cycles : 7).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785423869.64818311 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.61sINFOros2_control_node[2026-07-30 15:04:29.851] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-07-30 15:04:29.851] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360548 ms (missed cycles : 6). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360548 ms (missed cycles : 6).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244847 ms (missed cycles : 4). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244847 ms (missed cycles : 4).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.367142 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.367142 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 30 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905992 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905992 ms (missed cycles : 2).[0m ×2 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087751 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087751 ms (missed cycles : 4).[0m ×2 + 1.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.21sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.22sINFOros2_control_node[2026-07-30 15:04:49.251] [info] Received new action goal ×2 + 1.22sINFOros2_control_node[2026-07-30 15:04:49.251] [info] Accepted new action goal ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.231734 ms (missed cycles : 7). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.231734 ms (missed cycles : 7).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785423890.53836322 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.10sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110081 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110081 ms (missed cycles : 4).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785423891.15778208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785423891.25015831 seconds ×3 + 3.87sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785423891.89705515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.98sINFOros2_control_node[2026-07-30 15:04:52.010] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-07-30 15:04:52.011] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789037 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789037 ms (missed cycles : 6).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938561 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938561 ms (missed cycles : 3).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754968 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754968 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 30 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905992 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905992 ms (missed cycles : 2).[0m ×2 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087751 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087751 ms (missed cycles : 4).[0m ×2 + 1.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.21sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.22sINFOros2_control_node[2026-07-30 15:04:49.251] [info] Received new action goal ×2 + 1.22sINFOros2_control_node[2026-07-30 15:04:49.251] [info] Accepted new action goal ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.231734 ms (missed cycles : 7). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.231734 ms (missed cycles : 7).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785423890.53836322 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.10sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110081 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110081 ms (missed cycles : 4).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785423891.15778208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785423891.25015831 seconds ×3 + 3.87sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785423891.89705515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.98sINFOros2_control_node[2026-07-30 15:04:52.010] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-07-30 15:04:52.011] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789037 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789037 ms (missed cycles : 6).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938561 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938561 ms (missed cycles : 3).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754968 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754968 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 30 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905992 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905992 ms (missed cycles : 2).[0m ×2 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087751 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087751 ms (missed cycles : 4).[0m ×2 + 1.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.21sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.22sINFOros2_control_node[2026-07-30 15:04:49.251] [info] Received new action goal ×2 + 1.22sINFOros2_control_node[2026-07-30 15:04:49.251] [info] Accepted new action goal ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.231734 ms (missed cycles : 7). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.231734 ms (missed cycles : 7).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785423890.53836322 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.10sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110081 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110081 ms (missed cycles : 4).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785423891.15778208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785423891.25015831 seconds ×3 + 3.87sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785423891.89705515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.98sINFOros2_control_node[2026-07-30 15:04:52.010] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-07-30 15:04:52.011] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789037 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789037 ms (missed cycles : 6).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938561 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938561 ms (missed cycles : 3).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754968 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754968 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 30 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905992 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905992 ms (missed cycles : 2).[0m ×2 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087751 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087751 ms (missed cycles : 4).[0m ×2 + 1.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.21sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.22sINFOros2_control_node[2026-07-30 15:04:49.251] [info] Received new action goal ×2 + 1.22sINFOros2_control_node[2026-07-30 15:04:49.251] [info] Accepted new action goal ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.231734 ms (missed cycles : 7). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.231734 ms (missed cycles : 7).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785423890.53836322 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.10sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110081 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110081 ms (missed cycles : 4).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785423891.15778208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785423891.25015831 seconds ×3 + 3.87sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785423891.89705515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.98sINFOros2_control_node[2026-07-30 15:04:52.010] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-07-30 15:04:52.011] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789037 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789037 ms (missed cycles : 6).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938561 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938561 ms (missed cycles : 3).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754968 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754968 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 24 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025226 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025226 ms (missed cycles : 4).[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.54sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 0.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.55sINFOros2_control_node[2026-07-30 15:05:00.028] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-07-30 15:05:00.028] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789634 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740922 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740922 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785423902.27768970 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181484 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181484 ms (missed cycles : 2).[0m ×2 + 3.48sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.48sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.48sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785423902.97325587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.69sINFOros2_control_node[2026-07-30 15:05:03.162] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-07-30 15:05:03.162] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963287 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963287 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665715 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665715 ms (missed cycles : 3).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840868 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840868 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 24 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025226 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025226 ms (missed cycles : 4).[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.54sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 0.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.55sINFOros2_control_node[2026-07-30 15:05:00.028] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-07-30 15:05:00.028] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789634 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740922 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740922 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785423902.27768970 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181484 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181484 ms (missed cycles : 2).[0m ×2 + 3.48sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.48sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.48sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785423902.97325587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.69sINFOros2_control_node[2026-07-30 15:05:03.162] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-07-30 15:05:03.162] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963287 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963287 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665715 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665715 ms (missed cycles : 3).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840868 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840868 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 24 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025226 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025226 ms (missed cycles : 4).[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.54sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 0.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.55sINFOros2_control_node[2026-07-30 15:05:00.028] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-07-30 15:05:00.028] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789634 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740922 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740922 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785423902.27768970 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181484 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181484 ms (missed cycles : 2).[0m ×2 + 3.48sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.48sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.48sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785423902.97325587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.69sINFOros2_control_node[2026-07-30 15:05:03.162] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-07-30 15:05:03.162] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963287 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963287 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665715 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665715 ms (missed cycles : 3).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840868 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840868 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 24 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025226 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025226 ms (missed cycles : 4).[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.54sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 0.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.55sINFOros2_control_node[2026-07-30 15:05:00.028] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-07-30 15:05:00.028] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789634 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740922 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740922 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785423902.27768970 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181484 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181484 ms (missed cycles : 2).[0m ×2 + 3.48sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.48sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.48sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785423902.97325587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.69sINFOros2_control_node[2026-07-30 15:05:03.162] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-07-30 15:05:03.162] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963287 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963287 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665715 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665715 ms (missed cycles : 3).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840868 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840868 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 24 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025226 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025226 ms (missed cycles : 4).[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.54sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 0.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.55sINFOros2_control_node[2026-07-30 15:05:00.028] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-07-30 15:05:00.028] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789634 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740922 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740922 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785423902.27768970 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181484 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181484 ms (missed cycles : 2).[0m ×2 + 3.48sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.48sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.48sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785423902.97325587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.69sINFOros2_control_node[2026-07-30 15:05:03.162] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-07-30 15:05:03.162] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963287 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963287 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665715 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665715 ms (missed cycles : 3).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840868 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840868 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 24 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025226 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025226 ms (missed cycles : 4).[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.54sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 0.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.55sINFOros2_control_node[2026-07-30 15:05:00.028] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-07-30 15:05:00.028] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789634 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740922 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740922 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785423902.27768970 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181484 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181484 ms (missed cycles : 2).[0m ×2 + 3.48sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.48sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.48sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785423902.97325587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.69sINFOros2_control_node[2026-07-30 15:05:03.162] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-07-30 15:05:03.162] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963287 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963287 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665715 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665715 ms (missed cycles : 3).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840868 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840868 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 24 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025226 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025226 ms (missed cycles : 4).[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.54sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 0.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.55sINFOros2_control_node[2026-07-30 15:05:00.028] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-07-30 15:05:00.028] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789634 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740922 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740922 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785423902.27768970 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181484 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181484 ms (missed cycles : 2).[0m ×2 + 3.48sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.48sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.48sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785423902.97325587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.69sINFOros2_control_node[2026-07-30 15:05:03.162] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-07-30 15:05:03.162] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963287 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963287 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665715 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665715 ms (missed cycles : 3).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840868 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840868 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 24 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025226 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025226 ms (missed cycles : 4).[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.54sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 0.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.55sINFOros2_control_node[2026-07-30 15:05:00.028] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-07-30 15:05:00.028] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789634 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740922 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740922 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785423902.27768970 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181484 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181484 ms (missed cycles : 2).[0m ×2 + 3.48sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.48sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.48sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785423902.97325587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.69sINFOros2_control_node[2026-07-30 15:05:03.162] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-07-30 15:05:03.162] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963287 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963287 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665715 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665715 ms (missed cycles : 3).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840868 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840868 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 24 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025226 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025226 ms (missed cycles : 4).[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.54sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 0.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.55sINFOros2_control_node[2026-07-30 15:05:00.028] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-07-30 15:05:00.028] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789634 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789634 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740922 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.740922 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785423902.27768970 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181484 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181484 ms (missed cycles : 2).[0m ×2 + 3.48sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.48sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.48sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785423902.97325587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.69sINFOros2_control_node[2026-07-30 15:05:03.162] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-07-30 15:05:03.162] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963287 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963287 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665715 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665715 ms (missed cycles : 3).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840868 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840868 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 24 warnings · 86 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.150137 ms (missed cycles : 7). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.150137 ms (missed cycles : 7).[0m ×2 + 1.29sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 1.29sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.29sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 1.30sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 1.31sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 1.34sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 1.36sINFOobjective_server_nodeFound path in 5 iterations (0.00459553 s). ×2 + 1.40sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 1.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937182 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937182 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_node[2026-07-30 15:05:22.452] [info] Received new action goal ×2 + 1.45sINFOros2_control_node[2026-07-30 15:05:22.452] [info] Accepted new action goal ×2 + 1.85sINFOros2_control_node[2026-07-30 15:05:22.844] [info] Received new action goal ×2 + 1.85sINFOros2_control_node[2026-07-30 15:05:22.844] [info] Accepted new action goal ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565269 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565269 ms (missed cycles : 2).[0m ×2 + 3.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.31sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.32sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.32sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.32sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785423924.33617592 seconds ×3 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643189 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643189 ms (missed cycles : 2).[0m ×2 + 4.07sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 4.07sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.07sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.15sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1785423925.14785504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-07-30 15:05:25.261] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-07-30 15:05:25.261] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078150 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078150 ms (missed cycles : 4).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066311 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066311 ms (missed cycles : 4).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.721230 ms (missed cycles : 5). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.721230 ms (missed cycles : 5).[0m ×2 + 6.66sINFOros2_control_node[2026-07-30 15:05:27.660] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-07-30 15:05:27.660] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 27 warnings · 77 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785423937.75338864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.13sINFOros2_control_node[2026-07-30 15:05:37.877] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-07-30 15:05:37.877] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446935 ms (missed cycles : 3). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446935 ms (missed cycles : 3).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547119 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547119 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785423939.88358855 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069259 ms (missed cycles : 5). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069259 ms (missed cycles : 5).[0m ×2 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246767 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246767 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785423941.46905589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000258 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000258 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_node[2026-07-30 15:05:42.246] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.08sINFOobjective_server_node[0;93m2026-07-30 15:05:42.823568822 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.08sINFOobjective_server_node[0;93m2026-07-30 15:05:42.823624303 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.22sINFOobjective_server_node[2026-07-30 15:05:42.970] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253219 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253219 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_node[0;93m2026-07-30 15:05:43.418508470 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.67sINFOobjective_server_node[0;93m2026-07-30 15:05:43.418539120 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.75sINFOobjective_server_node[2026-07-30 15:05:43.495] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.79sINFOobjective_server_node[0;93m2026-07-30 15:05:43.535690480 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 5.79sINFOobjective_server_node[0;93m2026-07-30 15:05:43.537802856 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.79sINFOobjective_server_node[0;93m2026-07-30 15:05:43.537821457 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.80sINFOobjective_server_node[2026-07-30 15:05:43.550] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.10sINFOobjective_server_node[0;93m2026-07-30 15:05:43.845111547 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 6.11sINFOobjective_server_node[0;93m2026-07-30 15:05:43.859525626 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.11sINFOobjective_server_node[0;93m2026-07-30 15:05:43.859557897 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362410 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362410 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 24 warnings · 81 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000258 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000258 ms (missed cycles : 2).[0m ×2 + 0.15sINFOobjective_server_node[2026-07-30 15:05:42.246] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.73sINFOobjective_server_node[0;93m2026-07-30 15:05:42.823568822 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.73sINFOobjective_server_node[0;93m2026-07-30 15:05:42.823624303 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.87sINFOobjective_server_node[2026-07-30 15:05:42.970] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253219 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253219 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_node[0;93m2026-07-30 15:05:43.418508470 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.32sINFOobjective_server_node[0;93m2026-07-30 15:05:43.418539120 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.40sINFOobjective_server_node[2026-07-30 15:05:43.495] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.44sINFOobjective_server_node[0;93m2026-07-30 15:05:43.535690480 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.44sINFOobjective_server_node[0;93m2026-07-30 15:05:43.537802856 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.44sINFOobjective_server_node[0;93m2026-07-30 15:05:43.537821457 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.45sINFOobjective_server_node[2026-07-30 15:05:43.550] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.75sINFOobjective_server_node[0;93m2026-07-30 15:05:43.845111547 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.76sINFOobjective_server_node[0;93m2026-07-30 15:05:43.859525626 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.76sINFOobjective_server_node[0;93m2026-07-30 15:05:43.859557897 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362410 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362410 ms (missed cycles : 4).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955389 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955389 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785423945.28951025 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.80sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.80sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785423945.97182131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959584 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959584 ms (missed cycles : 2).[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sINFOros2_control_node[2026-07-30 15:05:46.368] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-07-30 15:05:46.368] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031634 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031634 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498809 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498809 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 24 warnings · 81 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000258 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000258 ms (missed cycles : 2).[0m ×2 + 0.15sINFOobjective_server_node[2026-07-30 15:05:42.246] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.73sINFOobjective_server_node[0;93m2026-07-30 15:05:42.823568822 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.73sINFOobjective_server_node[0;93m2026-07-30 15:05:42.823624303 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.87sINFOobjective_server_node[2026-07-30 15:05:42.970] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253219 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253219 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_node[0;93m2026-07-30 15:05:43.418508470 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.32sINFOobjective_server_node[0;93m2026-07-30 15:05:43.418539120 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.40sINFOobjective_server_node[2026-07-30 15:05:43.495] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.44sINFOobjective_server_node[0;93m2026-07-30 15:05:43.535690480 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.44sINFOobjective_server_node[0;93m2026-07-30 15:05:43.537802856 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.44sINFOobjective_server_node[0;93m2026-07-30 15:05:43.537821457 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.45sINFOobjective_server_node[2026-07-30 15:05:43.550] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.75sINFOobjective_server_node[0;93m2026-07-30 15:05:43.845111547 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.76sINFOobjective_server_node[0;93m2026-07-30 15:05:43.859525626 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.76sINFOobjective_server_node[0;93m2026-07-30 15:05:43.859557897 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362410 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362410 ms (missed cycles : 4).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955389 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955389 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785423945.28951025 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.80sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.80sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785423945.97182131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959584 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959584 ms (missed cycles : 2).[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sINFOros2_control_node[2026-07-30 15:05:46.368] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-07-30 15:05:46.368] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031634 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031634 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498809 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498809 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 24 warnings · 81 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000258 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000258 ms (missed cycles : 2).[0m ×2 + 0.15sINFOobjective_server_node[2026-07-30 15:05:42.246] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.73sINFOobjective_server_node[0;93m2026-07-30 15:05:42.823568822 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.73sINFOobjective_server_node[0;93m2026-07-30 15:05:42.823624303 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.87sINFOobjective_server_node[2026-07-30 15:05:42.970] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253219 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253219 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_node[0;93m2026-07-30 15:05:43.418508470 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.32sINFOobjective_server_node[0;93m2026-07-30 15:05:43.418539120 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.40sINFOobjective_server_node[2026-07-30 15:05:43.495] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.44sINFOobjective_server_node[0;93m2026-07-30 15:05:43.535690480 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.44sINFOobjective_server_node[0;93m2026-07-30 15:05:43.537802856 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.44sINFOobjective_server_node[0;93m2026-07-30 15:05:43.537821457 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.45sINFOobjective_server_node[2026-07-30 15:05:43.550] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.75sINFOobjective_server_node[0;93m2026-07-30 15:05:43.845111547 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.76sINFOobjective_server_node[0;93m2026-07-30 15:05:43.859525626 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.76sINFOobjective_server_node[0;93m2026-07-30 15:05:43.859557897 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362410 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362410 ms (missed cycles : 4).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955389 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955389 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785423945.28951025 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.80sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.80sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785423945.97182131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959584 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959584 ms (missed cycles : 2).[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sINFOros2_control_node[2026-07-30 15:05:46.368] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-07-30 15:05:46.368] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031634 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031634 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498809 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498809 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 24 warnings · 81 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000258 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000258 ms (missed cycles : 2).[0m ×2 + 0.15sINFOobjective_server_node[2026-07-30 15:05:42.246] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.73sINFOobjective_server_node[0;93m2026-07-30 15:05:42.823568822 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.73sINFOobjective_server_node[0;93m2026-07-30 15:05:42.823624303 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.87sINFOobjective_server_node[2026-07-30 15:05:42.970] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253219 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253219 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_node[0;93m2026-07-30 15:05:43.418508470 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.32sINFOobjective_server_node[0;93m2026-07-30 15:05:43.418539120 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.40sINFOobjective_server_node[2026-07-30 15:05:43.495] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.44sINFOobjective_server_node[0;93m2026-07-30 15:05:43.535690480 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.44sINFOobjective_server_node[0;93m2026-07-30 15:05:43.537802856 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.44sINFOobjective_server_node[0;93m2026-07-30 15:05:43.537821457 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.45sINFOobjective_server_node[2026-07-30 15:05:43.550] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.75sINFOobjective_server_node[0;93m2026-07-30 15:05:43.845111547 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.76sINFOobjective_server_node[0;93m2026-07-30 15:05:43.859525626 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.76sINFOobjective_server_node[0;93m2026-07-30 15:05:43.859557897 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362410 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362410 ms (missed cycles : 4).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955389 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955389 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785423945.28951025 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.80sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.80sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785423945.97182131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959584 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959584 ms (missed cycles : 2).[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sINFOros2_control_node[2026-07-30 15:05:46.368] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-07-30 15:05:46.368] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031634 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031634 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498809 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498809 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 18 errors · 24 warnings · 120 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539358 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539358 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.239391 ms (missed cycles : 7). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.239391 ms (missed cycles : 7).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826214 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826214 ms (missed cycles : 5).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785423999.69488573 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.590847 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.590847 ms (missed cycles : 4).[0m ×2 + 3.61sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.61sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.62sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785424000.34300327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.78sINFOros2_control_node[2026-07-30 15:06:40.506] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-07-30 15:06:40.506] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.898097 ms (missed cycles : 8). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.898097 ms (missed cycles : 8).[0m ×2 + 5.07sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.07sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159377 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159377 ms (missed cycles : 5).[0m ×2 + 5.39sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×18 + 5.40sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465667 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465667 ms (missed cycles : 3).[0m ×2 + 6.41sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785424003.13620090 seconds ×3 + 6.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 21 errors · 30 warnings · 173 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159377 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159377 ms (missed cycles : 5).[0m ×2 + 0.12sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 0.13sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 0.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465667 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465667 ms (missed cycles : 3).[0m ×2 + 1.14sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785424003.13620090 seconds ×3 + 1.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.15sINFOcontroller_managerSuccessfully switched controllers! ×7 + 1.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 1.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.72sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 1.72sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 1.72sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 1.76sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785424003.75417876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 1.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 1.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 1.89sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 1.90sINFOros2_control_node[2026-07-30 15:06:43.898] [info] Received new action goal ×2 + 1.90sINFOros2_control_node[2026-07-30 15:06:43.898] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948299 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948299 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519366 ms (missed cycles : 6). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.519366 ms (missed cycles : 6).[0m ×2 + 3.21sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 3.22sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.44sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785424005.43956566 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785424006.06548667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795698 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795698 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.23sINFOros2_control_node[2026-07-30 15:06:46.229] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-07-30 15:06:46.229] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232525 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232525 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159131 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159131 ms (missed cycles : 2).[0m ×2 + 6.84sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.84sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 6.85sINFOros2_control_node[2026-07-30 15:06:48.845] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-07-30 15:06:48.845] [info] Accepted new action goal ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 21 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772007 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772007 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299750 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299750 ms (missed cycles : 4).[0m ×2 + 1.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.096445 ms (missed cycles : 7). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.096445 ms (missed cycles : 7).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785424044.77944899 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554504 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554504 ms (missed cycles : 3).[0m ×2 + 3.18sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.18sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.18sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.27sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785424045.48277068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.50sINFOros2_control_node[2026-07-30 15:07:25.716] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-07-30 15:07:25.717] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673639 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673639 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354399 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354399 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 21 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772007 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772007 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299750 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299750 ms (missed cycles : 4).[0m ×2 + 1.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.096445 ms (missed cycles : 7). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.096445 ms (missed cycles : 7).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785424044.77944899 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554504 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554504 ms (missed cycles : 3).[0m ×2 + 3.18sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.18sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.18sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.27sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785424045.48277068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.50sINFOros2_control_node[2026-07-30 15:07:25.716] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-07-30 15:07:25.717] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673639 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673639 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354399 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354399 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 30 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083609 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083609 ms (missed cycles : 4).[0m ×2 + 0.15sINFOros2_control_node[2026-07-30 15:07:32.710] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-07-30 15:07:32.710] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317941 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317941 ms (missed cycles : 4).[0m ×2 + 1.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.82sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.82sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.83sINFOros2_control_node[2026-07-30 15:07:34.387] [info] Received new action goal ×2 + 1.83sINFOros2_control_node[2026-07-30 15:07:34.387] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074509 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074509 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316137 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316137 ms (missed cycles : 4).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785424055.67295551 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.80sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.80sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.83sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785424056.38948750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-07-30 15:07:36.598] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-07-30 15:07:36.598] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709119 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709119 ms (missed cycles : 4).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675270 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675270 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817215 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817215 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 30 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083609 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083609 ms (missed cycles : 4).[0m ×2 + 0.15sINFOros2_control_node[2026-07-30 15:07:32.710] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-07-30 15:07:32.710] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317941 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317941 ms (missed cycles : 4).[0m ×2 + 1.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.82sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.82sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.83sINFOros2_control_node[2026-07-30 15:07:34.387] [info] Received new action goal ×2 + 1.83sINFOros2_control_node[2026-07-30 15:07:34.387] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074509 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074509 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316137 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316137 ms (missed cycles : 4).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785424055.67295551 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.80sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.80sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.83sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785424056.38948750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-07-30 15:07:36.598] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-07-30 15:07:36.598] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709119 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709119 ms (missed cycles : 4).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675270 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675270 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817215 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817215 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 30 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083609 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083609 ms (missed cycles : 4).[0m ×2 + 0.15sINFOros2_control_node[2026-07-30 15:07:32.710] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-07-30 15:07:32.710] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317941 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317941 ms (missed cycles : 4).[0m ×2 + 1.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.82sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.82sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.83sINFOros2_control_node[2026-07-30 15:07:34.387] [info] Received new action goal ×2 + 1.83sINFOros2_control_node[2026-07-30 15:07:34.387] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074509 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074509 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316137 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316137 ms (missed cycles : 4).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785424055.67295551 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.80sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.80sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.83sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785424056.38948750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-07-30 15:07:36.598] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-07-30 15:07:36.598] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709119 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709119 ms (missed cycles : 4).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675270 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675270 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817215 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817215 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 30 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083609 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083609 ms (missed cycles : 4).[0m ×2 + 0.15sINFOros2_control_node[2026-07-30 15:07:32.710] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-07-30 15:07:32.710] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317941 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317941 ms (missed cycles : 4).[0m ×2 + 1.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.82sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.82sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.83sINFOros2_control_node[2026-07-30 15:07:34.387] [info] Received new action goal ×2 + 1.83sINFOros2_control_node[2026-07-30 15:07:34.387] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074509 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074509 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316137 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316137 ms (missed cycles : 4).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785424055.67295551 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.80sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.80sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.83sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785424056.38948750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-07-30 15:07:36.598] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-07-30 15:07:36.598] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709119 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709119 ms (missed cycles : 4).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675270 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675270 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817215 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817215 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 30 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083609 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083609 ms (missed cycles : 4).[0m ×2 + 0.15sINFOros2_control_node[2026-07-30 15:07:32.710] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-07-30 15:07:32.710] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317941 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317941 ms (missed cycles : 4).[0m ×2 + 1.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.82sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.82sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.83sINFOros2_control_node[2026-07-30 15:07:34.387] [info] Received new action goal ×2 + 1.83sINFOros2_control_node[2026-07-30 15:07:34.387] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074509 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074509 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316137 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316137 ms (missed cycles : 4).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785424055.67295551 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.80sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.80sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.83sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785424056.38948750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-07-30 15:07:36.598] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-07-30 15:07:36.598] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709119 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709119 ms (missed cycles : 4).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675270 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675270 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817215 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817215 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 30 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083609 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083609 ms (missed cycles : 4).[0m ×2 + 0.15sINFOros2_control_node[2026-07-30 15:07:32.710] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-07-30 15:07:32.710] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317941 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317941 ms (missed cycles : 4).[0m ×2 + 1.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.82sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.82sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.83sINFOros2_control_node[2026-07-30 15:07:34.387] [info] Received new action goal ×2 + 1.83sINFOros2_control_node[2026-07-30 15:07:34.387] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074509 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074509 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316137 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316137 ms (missed cycles : 4).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785424055.67295551 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.80sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.80sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.83sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785424056.38948750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-07-30 15:07:36.598] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-07-30 15:07:36.598] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709119 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709119 ms (missed cycles : 4).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675270 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675270 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817215 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817215 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 30 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083609 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083609 ms (missed cycles : 4).[0m ×2 + 0.15sINFOros2_control_node[2026-07-30 15:07:32.710] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-07-30 15:07:32.710] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317941 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317941 ms (missed cycles : 4).[0m ×2 + 1.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.82sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.82sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.83sINFOros2_control_node[2026-07-30 15:07:34.387] [info] Received new action goal ×2 + 1.83sINFOros2_control_node[2026-07-30 15:07:34.387] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074509 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074509 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316137 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316137 ms (missed cycles : 4).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785424055.67295551 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.80sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.80sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.83sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785424056.38948750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-07-30 15:07:36.598] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-07-30 15:07:36.598] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709119 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709119 ms (missed cycles : 4).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675270 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675270 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817215 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817215 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 30 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083609 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083609 ms (missed cycles : 4).[0m ×2 + 0.15sINFOros2_control_node[2026-07-30 15:07:32.710] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-07-30 15:07:32.710] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317941 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317941 ms (missed cycles : 4).[0m ×2 + 1.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.82sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.82sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.83sINFOros2_control_node[2026-07-30 15:07:34.387] [info] Received new action goal ×2 + 1.83sINFOros2_control_node[2026-07-30 15:07:34.387] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074509 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074509 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316137 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316137 ms (missed cycles : 4).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785424055.67295551 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.80sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.80sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.83sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785424056.38948750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-07-30 15:07:36.598] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-07-30 15:07:36.598] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709119 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709119 ms (missed cycles : 4).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675270 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675270 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817215 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817215 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 21 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.084926 ms (missed cycles : 7). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.084926 ms (missed cycles : 7).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489882 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489882 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683716 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683716 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785424066.71000147 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549485 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549485 ms (missed cycles : 3).[0m ×2 + 3.25sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.25sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.25sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.26sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1785424067.29586077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.52sINFOros2_control_node[2026-07-30 15:07:47.554] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-07-30 15:07:47.554] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265439 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265439 ms (missed cycles : 4).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362469 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362469 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 27 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672165 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672165 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720762 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720762 ms (missed cycles : 6).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607717 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607717 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785424088.21264124 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578587 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578587 ms (missed cycles : 4).[0m ×2 + 3.26sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 3.26sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785424088.82171702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785424088.90189314 seconds ×3 + 3.94sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785424089.49543548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785424089.52795482 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265684 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265684 ms (missed cycles : 4).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785424090.19878006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.75sINFOros2_control_node[2026-07-30 15:08:10.302] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-07-30 15:08:10.302] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709888 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709888 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 27 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672165 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672165 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720762 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720762 ms (missed cycles : 6).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607717 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607717 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785424088.21264124 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578587 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578587 ms (missed cycles : 4).[0m ×2 + 3.26sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 3.26sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785424088.82171702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785424088.90189314 seconds ×3 + 3.94sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785424089.49543548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785424089.52795482 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265684 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265684 ms (missed cycles : 4).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785424090.19878006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.75sINFOros2_control_node[2026-07-30 15:08:10.302] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-07-30 15:08:10.302] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709888 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709888 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 27 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672165 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672165 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720762 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720762 ms (missed cycles : 6).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607717 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607717 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785424088.21264124 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578587 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578587 ms (missed cycles : 4).[0m ×2 + 3.26sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 3.26sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785424088.82171702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785424088.90189314 seconds ×3 + 3.94sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785424089.49543548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785424089.52795482 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265684 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265684 ms (missed cycles : 4).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785424090.19878006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.75sINFOros2_control_node[2026-07-30 15:08:10.302] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-07-30 15:08:10.302] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709888 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709888 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 27 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672165 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672165 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720762 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720762 ms (missed cycles : 6).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607717 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607717 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785424088.21264124 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578587 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578587 ms (missed cycles : 4).[0m ×2 + 3.26sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 3.26sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785424088.82171702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785424088.90189314 seconds ×3 + 3.94sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785424089.49543548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785424089.52795482 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265684 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265684 ms (missed cycles : 4).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785424090.19878006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.75sINFOros2_control_node[2026-07-30 15:08:10.302] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-07-30 15:08:10.302] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709888 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709888 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 30 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720762 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720762 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607717 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607717 ms (missed cycles : 3).[0m ×2 + 1.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785424088.21264124 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578587 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578587 ms (missed cycles : 4).[0m ×2 + 2.26sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 2.26sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 2.26sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785424088.82171702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785424088.90189314 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785424089.49543548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785424089.52795482 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265684 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265684 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785424090.19878006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.74sINFOros2_control_node[2026-07-30 15:08:10.302] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-07-30 15:08:10.302] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709888 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709888 ms (missed cycles : 2).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746879 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746879 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765790 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765790 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 30 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720762 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720762 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607717 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607717 ms (missed cycles : 3).[0m ×2 + 1.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785424088.21264124 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578587 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578587 ms (missed cycles : 4).[0m ×2 + 2.26sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 2.26sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 2.26sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785424088.82171702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785424088.90189314 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785424089.49543548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785424089.52795482 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265684 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265684 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785424090.19878006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.74sINFOros2_control_node[2026-07-30 15:08:10.302] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-07-30 15:08:10.302] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709888 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709888 ms (missed cycles : 2).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746879 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746879 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765790 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765790 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region and Cover | select_region_and_cover.xml | 0.0s | 3 errors · 30 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720762 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720762 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607717 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607717 ms (missed cycles : 3).[0m ×2 + 1.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785424088.21264124 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578587 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578587 ms (missed cycles : 4).[0m ×2 + 2.26sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 2.26sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 2.26sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785424088.82171702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785424088.90189314 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785424089.49543548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785424089.52795482 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265684 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265684 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785424090.19878006 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.74sINFOros2_control_node[2026-07-30 15:08:10.302] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-07-30 15:08:10.302] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709888 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709888 ms (missed cycles : 2).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746879 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746879 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765790 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765790 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 36 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257384 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257384 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234377 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234377 ms (missed cycles : 5).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329992 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329992 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOros2_control_node[2026-07-30 15:08:20.219] [info] Got request to cancel active goal. ×2 + 2.33sINFOros2_control_node[2026-07-30 15:08:20.219] [info] Canceling active goal... ×2 + 2.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785424100.22339678 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.92sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 2.92sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.92sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×8 + 2.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785424100.81444049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546626 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546626 ms (missed cycles : 3).[0m ×2 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.53% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785424101.50458646 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177615 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177615 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785424102.11152220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.22sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.22sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.22sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785424102.11330104 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785424102.84421039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785424102.84474969 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197804 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197804 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785424103.42584443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695020 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695020 ms (missed cycles : 3).[0m ×2 + 6.73sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785424104.62600470 seconds ×3 + 6.76sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 36 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257384 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257384 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234377 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234377 ms (missed cycles : 5).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329992 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329992 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOros2_control_node[2026-07-30 15:08:20.219] [info] Got request to cancel active goal. ×2 + 2.33sINFOros2_control_node[2026-07-30 15:08:20.219] [info] Canceling active goal... ×2 + 2.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785424100.22339678 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.92sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 2.92sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.92sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×8 + 2.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785424100.81444049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546626 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546626 ms (missed cycles : 3).[0m ×2 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.53% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785424101.50458646 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177615 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177615 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785424102.11152220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.22sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.22sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.22sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785424102.11330104 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785424102.84421039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785424102.84474969 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197804 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197804 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785424103.42584443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695020 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695020 ms (missed cycles : 3).[0m ×2 + 6.73sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785424104.62600470 seconds ×3 + 6.76sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 48 warnings · 263 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.04sINFOros2-2process has finished cleanly [pid 9067] ×2 + 0.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.08sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.40sINFOros2-4process has finished cleanly [pid 9069] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 48 warnings · 263 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.04sINFOros2-2process has finished cleanly [pid 9067] ×2 + 0.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.08sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.40sINFOros2-4process has finished cleanly [pid 9069] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 48 warnings · 263 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.04sINFOros2-2process has finished cleanly [pid 9067] ×2 + 0.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.08sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.40sINFOros2-4process has finished cleanly [pid 9069] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 48 warnings · 263 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.04sINFOros2-2process has finished cleanly [pid 9067] ×2 + 0.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.08sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.40sINFOros2-4process has finished cleanly [pid 9069] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 48 warnings · 263 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.04sINFOros2-2process has finished cleanly [pid 9067] ×2 + 0.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.08sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.40sINFOros2-4process has finished cleanly [pid 9069] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 48 warnings · 263 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.04sINFOros2-2process has finished cleanly [pid 9067] ×2 + 0.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.08sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.40sINFOros2-4process has finished cleanly [pid 9069] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 48 warnings · 263 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.04sINFOros2-2process has finished cleanly [pid 9067] ×2 + 0.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.08sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.40sINFOros2-4process has finished cleanly [pid 9069] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 6.3s | 55 warnings · 622 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-07-30-15-04-06-562972-cb27a9771a3d-9018 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.22sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.24sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.24sINFOcontroller_managerupdate rate is 600 Hz + 1.24sINFOcontroller_managerOverruns handling is : enabled + 1.24sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.24sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015172 ms (missed cycles : 4). + 1.41sINFOros2_control_node-1process started with pid [9066] ×2 + 1.41sINFOmove_group-9process started with pid [9085] ×2 + 1.41sINFOparameter_manager_node-10process started with pid [9086] ×2 + 1.41sINFOwaypoint_manager_node-11process started with pid [9087] ×2 + 1.41sINFOmove_joint_resampler_node-12process started with pid [9088] ×2 + 1.41sINFOmove_end_effector_resampler_node-13process started with pid [9089] ×2 + 1.43sINFOobjective_server_node_main-14process started with pid [9090] ×2 + 1.43sINFOcomponent_container_mt-15process started with pid [9091] ×2 + 1.43sINFOcomponent_container_mt-16process started with pid [9092] ×2 + 1.43sINFOexecute_objective_bridge-17process started with pid [9093] ×2 + 1.43sINFOui_teleop_bridge-18process started with pid [9094] ×2 + 1.43sINFOweb_bridge-19process started with pid [9095] ×2 + 1.43sINFOtf2_web_republisher_node-20process started with pid [9177] ×2 + 1.43sINFOvideo_server-21process started with pid [9180] ×2 + 1.43sINFOweb_bridge_auth_proxy-22process started with pid [9181] ×2 + 1.43sINFOweb_video_auth_proxy-23process started with pid [9186] ×2 + 1.44sINFOros2-2process started with pid [9067] ×2 + 1.44sINFOros2-3process started with pid [9068] ×2 + 1.44sINFOros2-4process started with pid [9069] ×2 + 1.44sINFOros2-5process started with pid [9070] ×2 + 1.44sINFOros2-6process started with pid [9071] ×2 + 1.44sINFOros2-7process started with pid [9072] ×2 + 1.44sINFOros2-8process started with pid [9073] ×2 + 1.45sINFOcontroller_managerReceived robot description from topic. + 1.45sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.46sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.50sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.50sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.50sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.50sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.50sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.50sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015172 ms (missed cycles : 4).[0m ×2 + 1.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.51sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.52sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.52sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.61sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.83sINFOvideo_server2026/07/30 15:04:08 INF MediaMTX v1.19.3, linux, amd64 ×2 + 1.84sINFOvideo_server2026/07/30 15:04:08 INF configuration loaded from /tmp/moveit-webrtc-1vfs9bs9/mediamtx.yml ×2 + 1.84sINFOvideo_server2026/07/30 15:04:08 INF [RTSP] started with listeners on 127.0.0.1:13205 (TCP/RTSP) ×2 + 1.84sINFOvideo_server2026/07/30 15:04:08 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.26sINFOmove_group[2026-07-30 15:04:09.381] [moveit_pro_license] [info] ×2 + 2.26sINFOmove_group************************************************* ×4 + 2.26sINFOmove_group* MoveIt Pro License ×2 + 2.26sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.41sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.42sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.42sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.42sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.53sINFOwaypoint_manager_node[2026-07-30 15:04:09.651] [moveit_pro_license] [info] ×2 + 2.53sINFOwaypoint_manager_node************************************************* ×4 + 2.53sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.53sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687287 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687287 ms (missed cycles : 2).[0m ×2 + 2.63sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.67sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.68sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.68sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.72sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.72sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.72sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.73sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.73sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.73sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.74sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.78sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.85sINFOmove_group ×4 + 2.85sINFOmove_group[92mYou can start planning now![0m ×2 + 3.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.48sINFOobjective_server_node[2026-07-30 15:04:10.605] [moveit_pro_license] [info] ×2 + 3.48sINFOobjective_server_node************************************************* ×4 + 3.48sINFOobjective_server_node* MoveIt Pro License ×2 + 3.48sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.57sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 3.57sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.58sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.72sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.72sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.85sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.85sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.85sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.85sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 3.85sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.85sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.85sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.85sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.85sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.85sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.85sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.85sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.85sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.85sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 3.94sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 3.94sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.94sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 3.94sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 3.99sINFOcomponent_container_mt[2026-07-30 15:04:11.114] [moveit_pro_license] [info] ×2 + 3.99sINFOcomponent_container_mt************************************************* ×4 + 3.99sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.99sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.02sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 4.02sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 4.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.04sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.04sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.04sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.04sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.06sINFOros2_control_node[2026-07-30 15:04:11.189] [info] Controller state will be published at 20 Hz. ×2 + 4.06sINFOros2_control_node[2026-07-30 15:04:11.190] [info] JointVelocityController 'on_configure' succeeded. ×2 + 4.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937876 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937876 ms (missed cycles : 3).[0m ×2 + 4.37sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.37sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.37sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.37sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.37sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 4.38sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 4.39sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.39sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.42sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.43sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 4.43sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.43sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.43sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 4.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 4.43sINFOros2-8process has finished cleanly [pid 9073] ×2 + 4.43sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.44sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.44sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.73sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.73sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.73sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.73sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.75sINFOros2-3process has finished cleanly [pid 9068] ×2 + 4.78sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 4.79sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 4.82sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.82sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 4.83sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.83sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.83sINFOros2_control_node[2026-07-30 15:04:11.951] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.83sINFOros2_control_node[2026-07-30 15:04:11.951] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.85sINFOros2_control_node[2026-07-30 15:04:11.974] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.85sINFOros2_control_node[2026-07-30 15:04:11.974] [info] Controller state will be published at 50 Hz. ×2 + 4.85sINFOros2_control_node[2026-07-30 15:04:11.979] [info] Registered `FollowJointTrajectory` action server. ×2 + 4.95sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 5.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 5.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 5.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 5.15sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.15sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.15sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.15sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.15sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 5.15sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 5.19sINFOros2-6process has finished cleanly [pid 9071] ×2 + 5.21sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.22sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.22sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.22sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.22sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.23sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.51sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.51sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.51sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.51sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.54sINFOros2-5process has finished cleanly [pid 9070] ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166919 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166919 ms (missed cycles : 4).[0m ×2 + 5.57sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 5.57sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 5.61sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.61sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.61sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.61sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.63sINFOros2_control_node[2026-07-30 15:04:12.760] [info] Controller state will be published at 10 Hz. ×2 + 5.64sINFOros2_control_node[2026-07-30 15:04:12.761] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.69sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×5 + 5.69sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 5.69sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×10 + 5.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785423852.81682158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785423852.82702589 seconds ×3 + 5.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 5.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 5.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 5.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 5.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 5.95sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.95sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.95sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.95sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.95sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 5.95sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 5.95sINFOros2-7process has finished cleanly [pid 9072] ×2 + 5.99sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.99sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.99sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.99sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.00sINFOforce_torque_sensor_broadcasterconfigure successful + 6.00sINFOros2_control_nodeconfigure successful[0m ×2 + 6.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.32sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.32sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.32sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.32sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.32sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 6.32sINFOros2-2process has finished cleanly [pid 9067] ×2 + 6.32sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 6.36sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.36sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.36sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.36sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.36sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 6.36sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 6.36sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 6.36sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.36sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.36sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 6.36sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 6.36sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 6.37sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.37sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.37sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.37sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.68sINFOros2-4process has finished cleanly [pid 9069] ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 7.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 7.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 8.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 9.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 54 warnings · 342 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 9070] ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166919 ms (missed cycles : 4). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166919 ms (missed cycles : 4).[0m ×2 + 0.03sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.03sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.07sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.07sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.07sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.10sINFOros2_control_node[2026-07-30 15:04:12.760] [info] Controller state will be published at 10 Hz. ×2 + 0.10sINFOros2_control_node[2026-07-30 15:04:12.761] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.15sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×7 + 0.15sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.15sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×14 + 0.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785423852.81682158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785423852.82702589 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.41sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.41sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.41sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.42sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.42sINFOros2-7process has finished cleanly [pid 9072] ×2 + 0.45sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.46sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.46sINFOforce_torque_sensor_broadcasterconfigure successful + 0.46sINFOros2_control_nodeconfigure successful[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.47sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.47sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.47sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.78sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.78sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.78sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.78sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.78sINFOros2-2process has finished cleanly [pid 9067] ×2 + 0.78sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.82sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.82sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.82sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.82sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.82sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.82sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.82sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.82sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.82sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.82sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.83sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.83sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.83sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.84sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.84sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.15sINFOros2-4process has finished cleanly [pid 9069] ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 5.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.30sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 5.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.31sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 5.31sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 53 warnings · 416 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.05sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.19sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.19sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.19sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.20sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.20sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.20sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.24sINFOros2-6process has finished cleanly [pid 9071] ×2 + 0.26sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.26sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.26sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.26sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.26sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.26sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.26sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.26sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.26sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.26sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.27sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.27sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.27sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.27sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.27sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.27sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.55sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.56sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.59sINFOros2-5process has finished cleanly [pid 9070] ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166919 ms (missed cycles : 4). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166919 ms (missed cycles : 4).[0m ×2 + 0.62sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.62sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.66sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.66sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.66sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.66sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.66sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.68sINFOros2_control_node[2026-07-30 15:04:12.760] [info] Controller state will be published at 10 Hz. ×2 + 0.68sINFOros2_control_node[2026-07-30 15:04:12.761] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.73sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×7 + 0.74sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×14 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785423852.81682158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785423852.82702589 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 1.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 1.00sINFOros2-7process has finished cleanly [pid 9072] ×2 + 1.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.05sINFOforce_torque_sensor_broadcasterconfigure successful + 1.05sINFOros2_control_nodeconfigure successful[0m ×2 + 1.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.36sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.36sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.36sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.36sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 1.37sINFOros2-2process has finished cleanly [pid 9067] ×2 + 1.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 1.41sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.41sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.41sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.41sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.41sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.41sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.41sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.41sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.41sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.41sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.41sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.42sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.42sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.42sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.42sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.73sINFOros2-4process has finished cleanly [pid 9069] ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 5.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 5.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.90sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 5.90sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 143 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-07-30-15-04-06-562972-cb27a9771a3d-9018 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.22sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.24sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.24sINFOcontroller_managerupdate rate is 600 Hz + 1.24sINFOcontroller_managerOverruns handling is : enabled + 1.24sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.24sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015172 ms (missed cycles : 4). + 1.41sINFOros2_control_node-1process started with pid [9066] ×2 + 1.41sINFOmove_group-9process started with pid [9085] ×2 + 1.41sINFOparameter_manager_node-10process started with pid [9086] ×2 + 1.41sINFOwaypoint_manager_node-11process started with pid [9087] ×2 + 1.41sINFOmove_joint_resampler_node-12process started with pid [9088] ×2 + 1.41sINFOmove_end_effector_resampler_node-13process started with pid [9089] ×2 + 1.43sINFOobjective_server_node_main-14process started with pid [9090] ×2 + 1.43sINFOcomponent_container_mt-15process started with pid [9091] ×2 + 1.43sINFOcomponent_container_mt-16process started with pid [9092] ×2 + 1.43sINFOexecute_objective_bridge-17process started with pid [9093] ×2 + 1.43sINFOui_teleop_bridge-18process started with pid [9094] ×2 + 1.43sINFOweb_bridge-19process started with pid [9095] ×2 + 1.43sINFOtf2_web_republisher_node-20process started with pid [9177] ×2 + 1.43sINFOvideo_server-21process started with pid [9180] ×2 + 1.43sINFOweb_bridge_auth_proxy-22process started with pid [9181] ×2 + 1.43sINFOweb_video_auth_proxy-23process started with pid [9186] ×2 + 1.44sINFOros2-2process started with pid [9067] ×2 + 1.44sINFOros2-3process started with pid [9068] ×2 + 1.44sINFOros2-4process started with pid [9069] ×2 + 1.44sINFOros2-5process started with pid [9070] ×2 + 1.44sINFOros2-6process started with pid [9071] ×2 + 1.44sINFOros2-7process started with pid [9072] ×2 + 1.44sINFOros2-8process started with pid [9073] ×2 + 1.45sINFOcontroller_managerReceived robot description from topic. + 1.45sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.46sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.50sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.50sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.50sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.50sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.50sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.50sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015172 ms (missed cycles : 4).[0m ×2 + 1.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.51sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.52sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.52sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.61sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.83sINFOvideo_server2026/07/30 15:04:08 INF MediaMTX v1.19.3, linux, amd64 ×2 + 1.84sINFOvideo_server2026/07/30 15:04:08 INF configuration loaded from /tmp/moveit-webrtc-1vfs9bs9/mediamtx.yml ×2 + 1.84sINFOvideo_server2026/07/30 15:04:08 INF [RTSP] started with listeners on 127.0.0.1:13205 (TCP/RTSP) ×2 + 1.84sINFOvideo_server2026/07/30 15:04:08 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.26sINFOmove_group[2026-07-30 15:04:09.381] [moveit_pro_license] [info] ×2 + 2.26sINFOmove_group************************************************* ×4 + 2.26sINFOmove_group* MoveIt Pro License ×2 + 2.26sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.41sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.42sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.42sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.42sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.53sINFOwaypoint_manager_node[2026-07-30 15:04:09.651] [moveit_pro_license] [info] ×2 + 2.53sINFOwaypoint_manager_node************************************************* ×4 + 2.53sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.53sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687287 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687287 ms (missed cycles : 2).[0m ×2 + 2.63sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.67sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.68sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.68sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.72sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.72sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.72sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.73sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.73sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.73sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.74sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.78sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.85sINFOmove_group ×4 + 2.85sINFOmove_group[92mYou can start planning now![0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 48 warnings · 263 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.04sINFOros2-2process has finished cleanly [pid 9067] ×2 + 0.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.08sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.40sINFOros2-4process has finished cleanly [pid 9069] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 56 warnings · 474 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937876 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937876 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.08sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.08sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.08sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.08sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.08sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.10sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.10sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.13sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.13sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.13sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.13sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.13sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.14sINFOros2-8process has finished cleanly [pid 9073] ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.14sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.14sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.43sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.43sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.43sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.46sINFOros2-3process has finished cleanly [pid 9068] ×2 + 0.49sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.49sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.53sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.53sINFOros2_control_node[2026-07-30 15:04:11.951] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.53sINFOros2_control_node[2026-07-30 15:04:11.951] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.54sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.56sINFOros2_control_node[2026-07-30 15:04:11.974] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.56sINFOros2_control_node[2026-07-30 15:04:11.974] [info] Controller state will be published at 50 Hz. ×2 + 0.56sINFOros2_control_node[2026-07-30 15:04:11.979] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.66sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.70sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.85sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.85sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.85sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.86sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.86sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.90sINFOros2-6process has finished cleanly [pid 9071] ×2 + 0.92sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.92sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.92sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.92sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.92sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.92sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.92sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.92sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.92sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.92sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.92sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.92sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.92sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.93sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.93sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.21sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.21sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.21sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.21sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.24sINFOros2-5process has finished cleanly [pid 9070] ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166919 ms (missed cycles : 4). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166919 ms (missed cycles : 4).[0m ×2 + 1.27sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 1.27sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 1.31sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.31sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.32sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.32sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.34sINFOros2_control_node[2026-07-30 15:04:12.760] [info] Controller state will be published at 10 Hz. ×2 + 1.34sINFOros2_control_node[2026-07-30 15:04:12.761] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.39sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×7 + 1.39sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 1.39sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×14 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785423852.81682158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785423852.82702589 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.66sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.66sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.66sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.66sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.66sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 1.66sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 1.66sINFOros2-7process has finished cleanly [pid 9072] ×2 + 1.70sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.70sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.70sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.70sINFOforce_torque_sensor_broadcasterconfigure successful + 1.71sINFOros2_control_nodeconfigure successful[0m ×2 + 1.71sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.71sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.71sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.71sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.02sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.02sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.02sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.02sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.03sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 2.03sINFOros2-2process has finished cleanly [pid 9067] ×2 + 2.03sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 2.07sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.07sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.07sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.07sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.07sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.07sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.07sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 2.07sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.07sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.07sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.07sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.07sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 2.08sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.08sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.08sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.08sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.39sINFOros2-4process has finished cleanly [pid 9069] ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 6.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.46sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.55sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.56sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 56 warnings · 474 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937876 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937876 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.08sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.08sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.08sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.08sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.08sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.10sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.10sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.13sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.13sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.13sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.13sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.13sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.14sINFOros2-8process has finished cleanly [pid 9073] ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.14sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.14sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.43sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.43sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.43sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.46sINFOros2-3process has finished cleanly [pid 9068] ×2 + 0.49sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.49sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.53sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.53sINFOros2_control_node[2026-07-30 15:04:11.951] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.53sINFOros2_control_node[2026-07-30 15:04:11.951] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.54sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.56sINFOros2_control_node[2026-07-30 15:04:11.974] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.56sINFOros2_control_node[2026-07-30 15:04:11.974] [info] Controller state will be published at 50 Hz. ×2 + 0.56sINFOros2_control_node[2026-07-30 15:04:11.979] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.66sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.70sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.85sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.85sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.85sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.86sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.86sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.90sINFOros2-6process has finished cleanly [pid 9071] ×2 + 0.92sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.92sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.92sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.92sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.92sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.92sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.92sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.92sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.92sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.92sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.92sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.92sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.92sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.93sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.93sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.21sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.21sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.21sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.21sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.24sINFOros2-5process has finished cleanly [pid 9070] ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166919 ms (missed cycles : 4). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166919 ms (missed cycles : 4).[0m ×2 + 1.27sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 1.27sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 1.31sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.31sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.32sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.32sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.34sINFOros2_control_node[2026-07-30 15:04:12.760] [info] Controller state will be published at 10 Hz. ×2 + 1.34sINFOros2_control_node[2026-07-30 15:04:12.761] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.39sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×7 + 1.39sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 1.39sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×14 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785423852.81682158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785423852.82702589 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.66sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.66sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.66sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.66sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.66sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 1.66sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 1.66sINFOros2-7process has finished cleanly [pid 9072] ×2 + 1.70sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.70sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.70sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.70sINFOforce_torque_sensor_broadcasterconfigure successful + 1.71sINFOros2_control_nodeconfigure successful[0m ×2 + 1.71sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.71sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.71sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.71sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.02sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.02sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.02sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.02sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.03sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 2.03sINFOros2-2process has finished cleanly [pid 9067] ×2 + 2.03sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 2.07sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.07sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.07sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.07sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.07sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.07sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.07sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 2.07sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.07sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.07sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.07sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.07sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 2.08sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.08sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.08sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.08sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.39sINFOros2-4process has finished cleanly [pid 9069] ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 6.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.46sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.55sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.56sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 56 warnings · 474 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937876 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937876 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.08sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.08sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.08sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.08sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.08sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.10sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.10sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.13sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.13sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.13sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.13sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.13sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.14sINFOros2-8process has finished cleanly [pid 9073] ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.14sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.14sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.43sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.43sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.43sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.46sINFOros2-3process has finished cleanly [pid 9068] ×2 + 0.49sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.49sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.53sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.53sINFOros2_control_node[2026-07-30 15:04:11.951] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.53sINFOros2_control_node[2026-07-30 15:04:11.951] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.54sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.56sINFOros2_control_node[2026-07-30 15:04:11.974] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.56sINFOros2_control_node[2026-07-30 15:04:11.974] [info] Controller state will be published at 50 Hz. ×2 + 0.56sINFOros2_control_node[2026-07-30 15:04:11.979] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.66sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.70sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.85sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.85sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.85sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.86sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.86sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.90sINFOros2-6process has finished cleanly [pid 9071] ×2 + 0.92sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.92sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.92sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.92sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.92sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.92sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.92sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.92sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.92sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.92sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.92sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.92sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.92sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.93sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.93sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.21sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.21sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.21sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.21sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.24sINFOros2-5process has finished cleanly [pid 9070] ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166919 ms (missed cycles : 4). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166919 ms (missed cycles : 4).[0m ×2 + 1.27sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 1.27sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 1.31sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.31sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.32sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.32sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.34sINFOros2_control_node[2026-07-30 15:04:12.760] [info] Controller state will be published at 10 Hz. ×2 + 1.34sINFOros2_control_node[2026-07-30 15:04:12.761] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.39sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×7 + 1.39sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 1.39sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×14 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785423852.81682158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785423852.82702589 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.66sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.66sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.66sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.66sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.66sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 1.66sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 1.66sINFOros2-7process has finished cleanly [pid 9072] ×2 + 1.70sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.70sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.70sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.70sINFOforce_torque_sensor_broadcasterconfigure successful + 1.71sINFOros2_control_nodeconfigure successful[0m ×2 + 1.71sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.71sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.71sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.71sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.02sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.02sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.02sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.02sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.03sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 2.03sINFOros2-2process has finished cleanly [pid 9067] ×2 + 2.03sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 2.07sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.07sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.07sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.07sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.07sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.07sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.07sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 2.07sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.07sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.07sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.07sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.07sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 2.08sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.08sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.08sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.08sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.39sINFOros2-4process has finished cleanly [pid 9069] ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 6.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.46sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.55sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.56sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 50 warnings · 416 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.05sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.19sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.19sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.19sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.20sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.20sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.20sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.24sINFOros2-6process has finished cleanly [pid 9071] ×2 + 0.26sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.26sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.26sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.26sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.26sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.26sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.26sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.26sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.26sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.26sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.27sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.27sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.27sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.27sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.27sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.27sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.55sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.56sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.59sINFOros2-5process has finished cleanly [pid 9070] ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166919 ms (missed cycles : 4). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166919 ms (missed cycles : 4).[0m ×2 + 0.62sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.62sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.66sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.66sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.66sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.66sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.66sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.68sINFOros2_control_node[2026-07-30 15:04:12.760] [info] Controller state will be published at 10 Hz. ×2 + 0.68sINFOros2_control_node[2026-07-30 15:04:12.761] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.73sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×7 + 0.74sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×14 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785423852.81682158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785423852.82702589 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 1.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 1.00sINFOros2-7process has finished cleanly [pid 9072] ×2 + 1.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.05sINFOforce_torque_sensor_broadcasterconfigure successful + 1.05sINFOros2_control_nodeconfigure successful[0m ×2 + 1.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.36sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.36sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.36sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.36sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 1.37sINFOros2-2process has finished cleanly [pid 9067] ×2 + 1.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 1.41sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.41sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.41sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.41sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.41sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.41sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.41sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.41sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.41sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.41sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.41sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.42sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.42sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.42sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.42sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.73sINFOros2-4process has finished cleanly [pid 9069] ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 5.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 5.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.90sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 5.90sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 51 warnings · 339 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 9070] ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166919 ms (missed cycles : 4). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166919 ms (missed cycles : 4).[0m ×2 + 0.03sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.03sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.07sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.07sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.07sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.10sINFOros2_control_node[2026-07-30 15:04:12.760] [info] Controller state will be published at 10 Hz. ×2 + 0.10sINFOros2_control_node[2026-07-30 15:04:12.761] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.15sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×7 + 0.15sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.15sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×14 + 0.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785423852.81682158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785423852.82702589 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.41sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.41sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.41sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.42sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.42sINFOros2-7process has finished cleanly [pid 9072] ×2 + 0.45sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.46sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.46sINFOforce_torque_sensor_broadcasterconfigure successful + 0.46sINFOros2_control_nodeconfigure successful[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.47sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.47sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.47sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.78sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.78sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.78sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.78sINFOros2-2process has finished cleanly [pid 9067] ×2 + 0.78sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.82sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.82sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.82sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.82sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.82sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.82sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.82sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.82sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.82sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.82sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.83sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.83sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.83sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.84sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.84sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.15sINFOros2-4process has finished cleanly [pid 9069] ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 5.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.30sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 5.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.31sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 5.31sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 48 warnings · 263 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.04sINFOros2-2process has finished cleanly [pid 9067] ×2 + 0.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.08sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.40sINFOros2-4process has finished cleanly [pid 9069] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 48 warnings · 263 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.04sINFOros2-2process has finished cleanly [pid 9067] ×2 + 0.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.08sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.40sINFOros2-4process has finished cleanly [pid 9069] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 48 warnings · 263 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.04sINFOros2-2process has finished cleanly [pid 9067] ×2 + 0.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.08sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.40sINFOros2-4process has finished cleanly [pid 9069] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 48 warnings · 263 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.04sINFOros2-2process has finished cleanly [pid 9067] ×2 + 0.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.08sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.40sINFOros2-4process has finished cleanly [pid 9069] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 48 warnings · 263 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.04sINFOros2-2process has finished cleanly [pid 9067] ×2 + 0.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.08sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.40sINFOros2-4process has finished cleanly [pid 9069] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 48 warnings · 263 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.04sINFOros2-2process has finished cleanly [pid 9067] ×2 + 0.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.08sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.40sINFOros2-4process has finished cleanly [pid 9069] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 48 warnings · 263 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.04sINFOros2-2process has finished cleanly [pid 9067] ×2 + 0.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.08sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.40sINFOros2-4process has finished cleanly [pid 9069] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 48 warnings · 263 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.04sINFOros2-2process has finished cleanly [pid 9067] ×2 + 0.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.08sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.40sINFOros2-4process has finished cleanly [pid 9069] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 48 warnings · 263 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.04sINFOros2-2process has finished cleanly [pid 9067] ×2 + 0.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.08sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.40sINFOros2-4process has finished cleanly [pid 9069] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 48 warnings · 263 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.04sINFOros2-2process has finished cleanly [pid 9067] ×2 + 0.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.08sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.40sINFOros2-4process has finished cleanly [pid 9069] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 48 warnings · 263 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.04sINFOros2-2process has finished cleanly [pid 9067] ×2 + 0.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.08sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.40sINFOros2-4process has finished cleanly [pid 9069] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 48 warnings · 276 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.04sINFOros2-2process has finished cleanly [pid 9067] ×2 + 0.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.08sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.40sINFOros2-4process has finished cleanly [pid 9069] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2).[0m ×2 + 7.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.10sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 7.11sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.12sINFOros2_control_node[2026-07-30 15:04:20.532] [info] Received new action goal ×2 + 7.13sINFOros2_control_node[2026-07-30 15:04:20.532] [info] Accepted new action goal ×2 + 7.59sINFOros2_control_nodeMuJoCo sim: 0.19% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 48 warnings · 263 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.04sINFOros2-2process has finished cleanly [pid 9067] ×2 + 0.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.08sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.40sINFOros2-4process has finished cleanly [pid 9069] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 48 warnings · 263 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.04sINFOros2-2process has finished cleanly [pid 9067] ×2 + 0.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.08sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.40sINFOros2-4process has finished cleanly [pid 9069] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 48 warnings · 263 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.04sINFOros2-2process has finished cleanly [pid 9067] ×2 + 0.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.08sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.40sINFOros2-4process has finished cleanly [pid 9069] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 48 warnings · 263 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785423853.41080737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 + 0.04sINFOros2-2process has finished cleanly [pid 9067] ×2 + 0.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a09vfnfe --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_iyf5j728 --params-file /tmp/launch_params_0d3cw4v8 [0m ×2 + 0.08sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.08sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.08sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.40sINFOros2-4process has finished cleanly [pid 9069] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282490 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785423854.47096586 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592181 ms (missed cycles : 6).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785423855.06729484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785423855.12745357 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785423855.77662635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785423855.80675697 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059596 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785423856.38176751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785423856.53236723 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785423857.19436765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785423857.26450253 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785423857.87181091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (1.696e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 15:04:17.976] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595208 ms (missed cycles : 6).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157646 ms (missed cycles : 5).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879403 ms (missed cycles : 2).[0m ×2 | ||||