117
Total objective tests
34
Objectives passed
0
Objectives failed
83
Objectives skipped
8.0s
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 | 43.0s | 162 warnings · 303 info |
+ 0.00sINFOobjective_server_node[2026-07-30 16:08:26.744] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316123 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316123 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_node[0;93m2026-07-30 16:08:27.348517745 [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 + 0.60sINFOobjective_server_node[0;93m2026-07-30 16:08:27.348554668 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.74sINFOobjective_server_node[2026-07-30 16:08:27.481] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.14sINFOobjective_server_node[0;93m2026-07-30 16:08:27.884084126 [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 + 1.14sINFOobjective_server_node[0;93m2026-07-30 16:08:27.884124239 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.23sINFOobjective_server_node[2026-07-30 16:08:27.969] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.27sINFOobjective_server_node[0;93m2026-07-30 16:08:28.006852628 [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 + 1.27sINFOobjective_server_node[0;93m2026-07-30 16:08:28.010044272 [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 + 1.27sINFOobjective_server_node[0;93m2026-07-30 16:08:28.010079495 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.28sINFOobjective_server_node[2026-07-30 16:08:28.028] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863286 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863286 ms (missed cycles : 2).[0m ×2 + 1.56sINFOobjective_server_node[0;93m2026-07-30 16:08:28.309237511 [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 + 1.59sINFOobjective_server_node[0;93m2026-07-30 16:08:28.328775495 [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 + 1.59sINFOobjective_server_node[0;93m2026-07-30 16:08:28.328837649 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036998 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036998 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785427709.77366400 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553252 ms (missed cycles : 4). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553252 ms (missed cycles : 4).[0m ×2 + 3.63sWARNobjective_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 + 3.64sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.64sINFOobjective_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 ×4 + 3.70sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785427710.44740844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.78sINFOobjective_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 + 3.79sINFOobjective_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 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.10sINFOros2_control_node[2026-07-30 16:08:30.841] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-07-30 16:08:30.841] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841742 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841742 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834121 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834121 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824912 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824912 ms (missed cycles : 3).[0m ×2 + 6.92sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.95sINFOros2_control_node[2026-07-30 16:08:33.691] [info] Received new action goal ×2 + 6.95sINFOros2_control_node[2026-07-30 16:08:33.691] [info] Accepted new action goal ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178645 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178645 ms (missed cycles : 2).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214708 ms (missed cycles : 2). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214708 ms (missed cycles : 2).[0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905818 ms (missed cycles : 3). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905818 ms (missed cycles : 3).[0m ×2 + 10.10sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×12 + 10.10sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.12sINFOros2_control_node[2026-07-30 16:08:36.861] [info] Received new action goal ×2 + 10.12sINFOros2_control_node[2026-07-30 16:08:36.861] [info] Accepted new action goal ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982132 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982132 ms (missed cycles : 2).[0m ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835261 ms (missed cycles : 3). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835261 ms (missed cycles : 3).[0m ×2 + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491964 ms (missed cycles : 2). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491964 ms (missed cycles : 2).[0m ×2 + 13.08sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 13.08sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.14sINFOros2_control_node[2026-07-30 16:08:39.888] [info] Received new action goal ×2 + 13.14sINFOros2_control_node[2026-07-30 16:08:39.888] [info] Accepted new action goal ×2 + 13.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061033 ms (missed cycles : 2). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061033 ms (missed cycles : 2).[0m ×2 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491290 ms (missed cycles : 3). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491290 ms (missed cycles : 3).[0m ×2 + 15.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648115 ms (missed cycles : 4). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648115 ms (missed cycles : 4).[0m ×2 + 16.10sINFOobjective_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 + 16.12sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.12sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.12sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.12sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781592 ms (missed cycles : 2). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781592 ms (missed cycles : 2).[0m ×2 + 17.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963302 ms (missed cycles : 2). + 17.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963302 ms (missed cycles : 2).[0m ×2 + 18.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061970 ms (missed cycles : 2). + 18.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061970 ms (missed cycles : 2).[0m ×2 + 19.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.830645 ms (missed cycles : 5). + 19.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.830645 ms (missed cycles : 5).[0m ×2 + 20.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905858 ms (missed cycles : 2). + 20.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905858 ms (missed cycles : 2).[0m ×2 + 21.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267646 ms (missed cycles : 4). + 21.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267646 ms (missed cycles : 4).[0m ×2 + 22.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307418 ms (missed cycles : 2). + 22.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307418 ms (missed cycles : 2).[0m ×2 + 23.67sINFOobjective_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 + 23.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.68sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.68sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.68sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.68sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019631 ms (missed cycles : 4). + 23.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019631 ms (missed cycles : 4).[0m ×2 + 24.57sINFOros2_control_node[2026-07-30 16:08:51.311] [info] Received new action goal ×2 + 24.57sINFOros2_control_node[2026-07-30 16:08:51.311] [info] Accepted new action goal ×2 + 24.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067046 ms (missed cycles : 2). + 24.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067046 ms (missed cycles : 2).[0m ×2 + 25.75sINFOobjective_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 + 25.76sINFOobjective_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 + 26.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268884 ms (missed cycles : 2). + 26.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268884 ms (missed cycles : 2).[0m ×2 + 26.04sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 26.09sINFOros2_control_node[2026-07-30 16:08:52.832] [info] Received new action goal ×2 + 26.09sINFOros2_control_node[2026-07-30 16:08:52.832] [info] Accepted new action goal ×2 + 27.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.750950 ms (missed cycles : 4). + 27.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.750950 ms (missed cycles : 4).[0m ×2 + 28.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415666 ms (missed cycles : 5). + 28.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415666 ms (missed cycles : 5).[0m ×2 + 28.37sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 28.37sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.38sINFOros2_control_node[2026-07-30 16:08:55.121] [info] Received new action goal ×2 + 28.38sINFOros2_control_node[2026-07-30 16:08:55.121] [info] Accepted new action goal ×2 + 29.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.086048 ms (missed cycles : 7). + 29.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.086048 ms (missed cycles : 7).[0m ×2 + 30.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169520 ms (missed cycles : 4). + 30.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169520 ms (missed cycles : 4).[0m ×2 + 31.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633225 ms (missed cycles : 4). + 31.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633225 ms (missed cycles : 4).[0m ×2 + 31.41sINFOros2_control_node[2026-07-30 16:08:58.151] [info] Received new action goal ×2 + 31.41sINFOros2_control_node[2026-07-30 16:08:58.151] [info] Accepted new action goal ×2 + 32.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717246 ms (missed cycles : 4). + 32.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717246 ms (missed cycles : 4).[0m ×2 + 33.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712133 ms (missed cycles : 5). + 33.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712133 ms (missed cycles : 5).[0m ×2 + 33.99sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 33.99sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.06sINFOros2_control_node[2026-07-30 16:09:00.804] [info] Received new action goal ×2 + 34.06sINFOros2_control_node[2026-07-30 16:09:00.804] [info] Accepted new action goal ×2 + 34.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886805 ms (missed cycles : 5). + 34.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886805 ms (missed cycles : 5).[0m ×2 + 35.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277794 ms (missed cycles : 2). + 35.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277794 ms (missed cycles : 2).[0m ×2 + 36.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.681639 ms (missed cycles : 5). + 36.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.681639 ms (missed cycles : 5).[0m ×2 + 36.45sINFOros2_control_nodeMuJoCo sim: 0.45% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 37.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289707 ms (missed cycles : 2). + 37.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289707 ms (missed cycles : 2).[0m ×2 + 38.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354142 ms (missed cycles : 4). + 38.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354142 ms (missed cycles : 4).[0m ×2 + 39.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747962 ms (missed cycles : 2). + 39.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747962 ms (missed cycles : 2).[0m ×2 + 40.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.462257 ms (missed cycles : 6). + 40.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.462257 ms (missed cycles : 6).[0m ×2 + 41.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195962 ms (missed cycles : 2). + 41.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195962 ms (missed cycles : 2).[0m ×2 + 42.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.901865 ms (missed cycles : 5). + 42.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.901865 ms (missed cycles : 5).[0m ×2 + 43.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172918 ms (missed cycles : 3). + 43.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172918 ms (missed cycles : 3).[0m ×2 + 44.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246458 ms (missed cycles : 2). + 44.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246458 ms (missed cycles : 2).[0m ×2 + 44.92sINFOros2_control_node[2026-07-30 16:09:11.661] [info] Received new action goal ×2 + 44.92sINFOros2_control_node[2026-07-30 16:09:11.661] [info] Accepted new action goal ×2 + 45.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991916 ms (missed cycles : 3). + 45.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991916 ms (missed cycles : 3).[0m ×2 + 46.07sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1785427752.81758690 seconds ×3 + 46.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889617 ms (missed cycles : 3). + 46.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889617 ms (missed cycles : 3).[0m ×2 + 46.90sINFOobjective_server_nodeObjective `Push Button` starting at time: 1785427753.64255714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360121 ms (missed cycles : 3). + 47.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360121 ms (missed cycles : 3).[0m ×2 + 48.11sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 48.11sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.12sINFOros2_control_node[2026-07-30 16:09:14.866] [info] Received new action goal ×2 + 48.12sINFOros2_control_node[2026-07-30 16:09:14.866] [info] Accepted new action goal ×2 + 48.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874788 ms (missed cycles : 3). + 48.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874788 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 29.2s | 3 errors · 119 warnings · 255 info |
+ 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359657 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.011916 ms (missed cycles : 6). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.011916 ms (missed cycles : 6).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102724 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102724 ms (missed cycles : 4).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871378 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871378 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_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 + 3.29sINFOobjective_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 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.53sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 3.53sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1785427780.45689583 seconds ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803320 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803320 ms (missed cycles : 2).[0m ×2 + 4.19sWARNobjective_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 + 4.19sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.19sINFOobjective_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 + 4.26sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1785427781.19051504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 5 iterations (0.00434613 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.50sINFOros2_control_node[2026-07-30 16:09:41.426] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-07-30 16:09:41.426] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.365110 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.365110 ms (missed cycles : 6).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.977648 ms (missed cycles : 6). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.977648 ms (missed cycles : 6).[0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.064111 ms (missed cycles : 7). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.064111 ms (missed cycles : 7).[0m ×2 + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243659 ms (missed cycles : 2). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243659 ms (missed cycles : 2).[0m ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200745 ms (missed cycles : 2). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200745 ms (missed cycles : 2).[0m ×2 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455898 ms (missed cycles : 3). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455898 ms (missed cycles : 3).[0m ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421194 ms (missed cycles : 4). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421194 ms (missed cycles : 4).[0m ×2 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317716 ms (missed cycles : 2). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317716 ms (missed cycles : 2).[0m ×2 + 12.48sINFOobjective_server_node[2026-07-30 16:09:49.408] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.05sINFOobjective_server_node[0;m[0;93m2026-07-30 16:09:49.977754631 [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 + 13.05sINFOobjective_server_node[0;93m2026-07-30 16:09:49.977786743 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.16sINFOobjective_server_node[2026-07-30 16:09:50.086] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168288 ms (missed cycles : 5). + 13.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168288 ms (missed cycles : 5).[0m ×2 + 13.56sINFOobjective_server_node[0;93m2026-07-30 16:09:50.489068306 [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 + 13.56sINFOobjective_server_node[0;93m2026-07-30 16:09:50.489104588 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.62sINFOobjective_server_node[2026-07-30 16:09:50.552] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.67sINFOobjective_server_node[0;93m2026-07-30 16:09:50.597834802 [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 + 13.67sINFOobjective_server_node[0;93m2026-07-30 16:09:50.600743627 [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 + 13.67sINFOobjective_server_node[0;93m2026-07-30 16:09:50.600769739 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.69sINFOobjective_server_node[2026-07-30 16:09:50.615] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.99sINFOobjective_server_node[0;93m2026-07-30 16:09:50.923818506 [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 + 14.01sINFOobjective_server_node[0;93m2026-07-30 16:09:50.941718357 [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 + 14.01sINFOobjective_server_node[0;93m2026-07-30 16:09:50.941752330 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334295 ms (missed cycles : 3). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334295 ms (missed cycles : 3).[0m ×2 + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.572394 ms (missed cycles : 6). + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.572394 ms (missed cycles : 6).[0m ×2 + 15.68sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081898 ms (missed cycles : 6). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081898 ms (missed cycles : 6).[0m ×2 + 17.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.834366 ms (missed cycles : 5). + 17.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.834366 ms (missed cycles : 5).[0m ×2 + 18.13sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 18.31sINFOobjective_server_nodeFound path in 4 iterations (0.00293662 s). ×2 + 18.37sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 18.40sINFOobjective_server_nodeFound path in 12 iterations (0.00434167 s). ×2 + 18.45sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 18.47sINFOobjective_server_nodeFound path in 1 iterations (0.00199933 s). ×2 + 18.51sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] ×2 + 18.52sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 18.54sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 18.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241438 ms (missed cycles : 4). + 18.59sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 18.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241438 ms (missed cycles : 4).[0m ×2 + 18.61sINFOobjective_server_nodeFound path in 12 iterations (0.00342747 s). ×2 + 18.65sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] ×2 + 18.66sINFOobjective_server_nodeFound path in 2 iterations (0.00376001 s). ×2 + 18.70sINFOobjective_server_nodePath shortcutter: [X_____________________________X____________________X] ×2 + 18.72sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×4 + 18.75sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 18.77sINFOobjective_server_nodeFound path in 4 iterations (0.00381546 s). ×2 + 18.83sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 18.85sINFOobjective_server_nodeFound path in 4 iterations (0.00231128 s). ×2 + 18.92sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X______________________X] ×2 + 18.94sINFOobjective_server_nodeFound path in 1 iterations (0.00406894 s). ×2 + 18.98sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 19.00sINFOobjective_server_nodeFound path in 1 iterations (0.00189766 s). ×2 + 19.06sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] ×2 + 19.09sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×4 + 19.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 19.14sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 19.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 19.33sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________X] ×2 + 19.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 19.49sINFOros2_control_node[2026-07-30 16:09:56.417] [info] Received new action goal ×2 + 19.49sINFOros2_control_node[2026-07-30 16:09:56.417] [info] Accepted new action goal ×2 + 19.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.848873 ms (missed cycles : 6). + 19.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.848873 ms (missed cycles : 6).[0m ×2 + 20.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566100 ms (missed cycles : 3). + 20.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566100 ms (missed cycles : 3).[0m ×2 + 21.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832073 ms (missed cycles : 5). + 21.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832073 ms (missed cycles : 5).[0m ×2 + 22.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681603 ms (missed cycles : 3). + 22.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681603 ms (missed cycles : 3).[0m ×2 + 23.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.211588 ms (missed cycles : 7). + 23.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.211588 ms (missed cycles : 7).[0m ×2 + 24.49sINFOros2_control_node[2026-07-30 16:10:01.419] [info] Received new action goal ×2 + 24.49sINFOros2_control_node[2026-07-30 16:10:01.419] [info] Accepted new action goal ×2 + 24.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045100 ms (missed cycles : 4). + 24.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045100 ms (missed cycles : 4).[0m ×2 + 25.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.130148 ms (missed cycles : 4). + 25.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.130148 ms (missed cycles : 4).[0m ×2 + 26.01sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 26.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 26.02sINFOros2_control_node[2026-07-30 16:10:02.953] [info] Received new action goal ×2 + 26.02sINFOros2_control_node[2026-07-30 16:10:02.953] [info] Accepted new action goal ×2 + 26.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 26.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481812 ms (missed cycles : 3). + 26.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481812 ms (missed cycles : 3).[0m ×2 + 27.23sWARNobjective_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 + 27.23sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 27.27sINFOros2_control_node[2026-07-30 16:10:04.197] [info] Received new action goal ×2 + 27.27sINFOros2_control_node[2026-07-30 16:10:04.197] [info] Accepted new action goal ×2 + 27.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.252213 ms (missed cycles : 7). + 27.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.252213 ms (missed cycles : 7).[0m ×2 + 28.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.808660 ms (missed cycles : 8). + 28.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.808660 ms (missed cycles : 8).[0m ×2 + 29.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704994 ms (missed cycles : 3). + 29.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704994 ms (missed cycles : 3).[0m ×2 + 30.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824287 ms (missed cycles : 2). + 30.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824287 ms (missed cycles : 2).[0m ×2 + 31.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.882175 ms (missed cycles : 5). + 31.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.882175 ms (missed cycles : 5).[0m ×2 + 32.70sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785427809.63069415 seconds ×3 + 32.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 32.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 32.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 32.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 32.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 32.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 32.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.386793 ms (missed cycles : 6). + 32.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.386793 ms (missed cycles : 6).[0m ×2 + 33.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785427810.32502341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 33.63sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 33.64sINFOros2_control_node[2026-07-30 16:10:10.568] [info] Received new action goal ×2 + 33.64sINFOros2_control_node[2026-07-30 16:10:10.568] [info] Accepted new action goal ×2 + 34.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350082 ms (missed cycles : 3). + 34.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350082 ms (missed cycles : 3).[0m ×2 + 35.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680735 ms (missed cycles : 2). + 35.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680735 ms (missed cycles : 2).[0m ×2 + 36.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818991 ms (missed cycles : 2). + 36.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818991 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 23.4s | 3 errors · 105 warnings · 215 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448418 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448418 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902849 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902849 ms (missed cycles : 3).[0m ×2 + 1.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.82sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 1.82sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.83sINFOros2_control_node[2026-07-30 16:07:10.337] [info] Received new action goal ×2 + 1.83sINFOros2_control_node[2026-07-30 16:07:10.337] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576856 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576856 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_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 + 2.35sINFOros2_control_node[2026-07-30 16:07:10.853] [info] Got request to cancel active goal. ×2 + 2.35sINFOros2_control_node[2026-07-30 16:07:10.853] [info] Canceling active goal... ×2 + 2.36sERRORobjective_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: 1785427630.86946130 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 ×4 + 2.97sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.97sINFOobjective_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 ×8 + 2.97sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785427631.47839499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731794 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731794 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785427631.60865927 seconds ×3 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785427632.22250819 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 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.90sINFOros2_control_node[2026-07-30 16:07:12.406] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-07-30 16:07:12.406] [info] Accepted new action goal ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762029 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762029 ms (missed cycles : 3).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641055 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641055 ms (missed cycles : 3).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.111231 ms (missed cycles : 7). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.111231 ms (missed cycles : 7).[0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.550956 ms (missed cycles : 4). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.550956 ms (missed cycles : 4).[0m ×2 + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072761 ms (missed cycles : 4). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072761 ms (missed cycles : 4).[0m ×2 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707725 ms (missed cycles : 3). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707725 ms (missed cycles : 3).[0m ×2 + 10.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380787 ms (missed cycles : 2). + 10.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380787 ms (missed cycles : 2).[0m ×2 + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.648429 ms (missed cycles : 7). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.648429 ms (missed cycles : 7).[0m ×2 + 12.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080472 ms (missed cycles : 2). + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080472 ms (missed cycles : 2).[0m ×2 + 13.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.311955 ms (missed cycles : 5). + 13.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.311955 ms (missed cycles : 5).[0m ×2 + 14.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350867 ms (missed cycles : 4). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350867 ms (missed cycles : 4).[0m ×2 + 15.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.574453 ms (missed cycles : 4). + 15.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.574453 ms (missed cycles : 4).[0m ×2 + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454139 ms (missed cycles : 4). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454139 ms (missed cycles : 4).[0m ×2 + 17.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315771 ms (missed cycles : 3). + 17.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315771 ms (missed cycles : 3).[0m ×2 + 18.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851862 ms (missed cycles : 2). + 18.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851862 ms (missed cycles : 2).[0m ×2 + 19.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260810 ms (missed cycles : 2). + 19.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260810 ms (missed cycles : 2).[0m ×2 + 20.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.991709 ms (missed cycles : 5). + 20.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.991709 ms (missed cycles : 5).[0m ×2 + 20.91sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 20.91sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 20.91sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 21.19sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 21.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 21.20sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 21.20sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 21.22sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 21.25sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 21.28sINFOobjective_server_nodeFound path in 5 iterations (0.00475215 s). ×2 + 21.31sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 21.38sINFOros2_control_node[2026-07-30 16:07:29.890] [info] Received new action goal ×2 + 21.38sINFOros2_control_node[2026-07-30 16:07:29.890] [info] Accepted new action goal ×2 + 21.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712576 ms (missed cycles : 4). + 21.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712576 ms (missed cycles : 4).[0m ×2 + 22.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658910 ms (missed cycles : 5). + 22.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658910 ms (missed cycles : 5).[0m ×2 + 23.61sINFOros2_control_node[2026-07-30 16:07:32.122] [info] Received new action goal ×2 + 23.62sINFOros2_control_node[2026-07-30 16:07:32.122] [info] Accepted new action goal ×2 + 23.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.651453 ms (missed cycles : 4). + 23.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.651453 ms (missed cycles : 4).[0m ×2 + 24.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.625074 ms (missed cycles : 4). + 24.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.625074 ms (missed cycles : 4).[0m ×2 + 25.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 25.26sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 25.27sINFOros2_control_node[2026-07-30 16:07:33.775] [info] Received new action goal ×2 + 25.27sINFOros2_control_node[2026-07-30 16:07:33.775] [info] Accepted new action goal ×2 + 25.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576580 ms (missed cycles : 3). + 25.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576580 ms (missed cycles : 3).[0m ×2 + 26.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785427655.06267881 seconds ×3 + 26.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.405867 ms (missed cycles : 6). + 26.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.405867 ms (missed cycles : 6).[0m ×2 + 27.17sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785427655.68341756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 27.26sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785427655.76355600 seconds ×3 + 27.89sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785427656.39732003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 27.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576897 ms (missed cycles : 4). + 27.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576897 ms (missed cycles : 4).[0m ×2 + 27.98sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 27.98sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 27.99sINFOros2_control_node[2026-07-30 16:07:36.501] [info] Received new action goal ×2 + 27.99sINFOros2_control_node[2026-07-30 16:07:36.501] [info] Accepted new action goal ×2 + 29.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080178 ms (missed cycles : 3). + 29.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080178 ms (missed cycles : 3).[0m ×2 + 30.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861840 ms (missed cycles : 3). + 30.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861840 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.7s | 3 errors · 66 warnings · 190 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (6.01e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (5.31e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 0.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.07sINFOobjective_server_nodeFound path in 5 iterations (0.00471916 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 0.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.18sINFOros2_control_node[2026-07-30 16:08:06.138] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-07-30 16:08:06.138] [info] Accepted new action goal ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156203 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156203 ms (missed cycles : 2).[0m ×2 + 0.57sINFOros2_control_node[2026-07-30 16:08:06.530] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-07-30 16:08:06.530] [info] Accepted new action goal ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.415004 ms (missed cycles : 6). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.415004 ms (missed cycles : 6).[0m ×2 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715627 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715627 ms (missed cycles : 2).[0m ×2 + 2.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 2.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.97sINFOros2_control_node[2026-07-30 16:08:08.936] [info] Received new action goal ×2 + 2.98sINFOros2_control_node[2026-07-30 16:08:08.936] [info] Accepted new action goal ×2 + 2.99sINFOobjective_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 + 2.99sINFOros2_control_node[2026-07-30 16:08:08.953] [info] Got request to cancel active goal. ×2 + 2.99sINFOros2_control_node[2026-07-30 16:08:08.953] [info] Canceling active goal... ×2 + 3.00sERRORobjective_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: 1785427688.95973158 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.58sWARNobjective_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 + 3.58sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.58sINFOobjective_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 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404027 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404027 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1785427689.61426449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-07-30 16:08:09.757] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-07-30 16:08:09.757] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269165 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269165 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985624 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985624 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_node[2026-07-30 16:08:12.141] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-07-30 16:08:12.141] [info] Accepted new action goal ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988982 ms (missed cycles : 2). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988982 ms (missed cycles : 2).[0m ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179297 ms (missed cycles : 2). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179297 ms (missed cycles : 2).[0m ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233088 ms (missed cycles : 2). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233088 ms (missed cycles : 2).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048396 ms (missed cycles : 5). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048396 ms (missed cycles : 5).[0m ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649306 ms (missed cycles : 4). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649306 ms (missed cycles : 4).[0m ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415742 ms (missed cycles : 3). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415742 ms (missed cycles : 3).[0m ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795728 ms (missed cycles : 2). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795728 ms (missed cycles : 2).[0m ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210616 ms (missed cycles : 2). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210616 ms (missed cycles : 2).[0m ×2 + 14.74sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785427700.70267153 seconds ×3 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340291 ms (missed cycles : 5). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340291 ms (missed cycles : 5).[0m ×2 + 15.41sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785427701.36880708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.44sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.45sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.45sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.47sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785427701.42900252 seconds ×3 + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727854 ms (missed cycles : 2). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727854 ms (missed cycles : 2).[0m ×2 + 16.23sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785427702.19627142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.35sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 16.35sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.38sINFOros2_control_node[2026-07-30 16:08:22.337] [info] Received new action goal ×2 + 16.38sINFOros2_control_node[2026-07-30 16:08:22.337] [info] Accepted new action goal ×2 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688053 ms (missed cycles : 2). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688053 ms (missed cycles : 2).[0m ×2 + 18.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001512 ms (missed cycles : 3). + 18.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001512 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 18 errors · 63 warnings · 239 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172918 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172918 ms (missed cycles : 3).[0m ×2 + 0.27sINFOobjective_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 + 0.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.27sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.27sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.27sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.27sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.27sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.28sINFOros2_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 3.246458 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246458 ms (missed cycles : 2).[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 16:09:11.661] [info] Received new action goal ×2 + 1.37sINFOros2_control_node[2026-07-30 16:09:11.661] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991916 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991916 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1785427752.81758690 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889617 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889617 ms (missed cycles : 3).[0m ×2 + 3.14sWARNobjective_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 + 3.14sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.14sINFOobjective_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 + 3.35sINFOobjective_server_nodeObjective `Push Button` starting at time: 1785427753.64255714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360121 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360121 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 4.57sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.58sINFOros2_control_node[2026-07-30 16:09:14.866] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-07-30 16:09:14.866] [info] Accepted new action goal ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874788 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874788 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373145 ms (missed cycles : 5). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373145 ms (missed cycles : 5).[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662491 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662491 ms (missed cycles : 3).[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 + 8.28sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.28sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.28sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.28sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290338 ms (missed cycles : 3). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290338 ms (missed cycles : 3).[0m ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558276 ms (missed cycles : 4). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558276 ms (missed cycles : 4).[0m ×2 + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673905 ms (missed cycles : 3). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673905 ms (missed cycles : 3).[0m ×2 + 10.68sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 10.69sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.70sINFOros2_control_node[2026-07-30 16:09:20.986] [info] Received new action goal ×2 + 10.70sINFOros2_control_node[2026-07-30 16:09:20.986] [info] Accepted new action goal ×2 + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.734196 ms (missed cycles : 5). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.734196 ms (missed cycles : 5).[0m ×2 + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460639 ms (missed cycles : 2). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460639 ms (missed cycles : 2).[0m ×2 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623054 ms (missed cycles : 4). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623054 ms (missed cycles : 4).[0m ×2 + 14.30sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785427764.59271765 seconds ×3 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105344 ms (missed cycles : 2). + 14.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105344 ms (missed cycles : 2).[0m ×2 + 14.94sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785427765.22829437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.10sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 15.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.11sINFOros2_control_node[2026-07-30 16:09:25.401] [info] Received new action goal ×2 + 15.11sINFOros2_control_node[2026-07-30 16:09:25.401] [info] Accepted new action goal ×2 + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416363 ms (missed cycles : 3). + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416363 ms (missed cycles : 3).[0m ×2 + 16.39sINFOobjective_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 + 16.40sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111098 ms (missed cycles : 2). + 16.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111098 ms (missed cycles : 2).[0m ×2 + 16.73sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×18 + 16.74sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561322 ms (missed cycles : 5). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561322 ms (missed cycles : 5).[0m ×2 + 17.73sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785427768.02182841 seconds ×3 + 17.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 17.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 17.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 17.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 17.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 17.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.5s | 69 errors · 50 warnings · 379 info |
+ 0.00sINFOobjective_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 + 0.00sINFOros2_control_node[2026-07-30 16:11:05.352] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-07-30 16:11:05.352] [info] Canceling active goal... ×2 + 0.01sERRORobjective_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: 1785427865.35779953 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242540 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242540 ms (missed cycles : 4).[0m ×2 + 0.60sWARNobjective_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 + 0.60sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 0.60sINFOobjective_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 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785427865.95457149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705084 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705084 ms (missed cycles : 3).[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785427867.26470876 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.563982 ms (missed cycles : 6). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.563982 ms (missed cycles : 6).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785427867.85388398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.51sINFOobjective_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 + 2.51sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785427867.85968947 seconds ×3 + 3.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785427868.59145927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785427868.59196305 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882805 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882805 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785427869.17107606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213836 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213836 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785427870.32121062 seconds ×3 + 5.01sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760662 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760662 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367293 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367293 ms (missed cycles : 3).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.858499 ms (missed cycles : 8). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.858499 ms (missed cycles : 8).[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627890 ms (missed cycles : 4). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627890 ms (missed cycles : 4).[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468724 ms (missed cycles : 6). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468724 ms (missed cycles : 6).[0m ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778949 ms (missed cycles : 2). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778949 ms (missed cycles : 2).[0m ×2 + 10.72sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.75sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORweb_video_auth_proxy-23process has died [pid 9192, 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 + 10.76sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.77sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORweb_bridge_auth_proxy-22process has died [pid 9191, 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 + 10.77sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.78sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.79sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.80sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.81sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.82sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.83sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.84sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.85sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.86sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.87sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.88sINFOvideo_server-21process has finished cleanly [pid 9190] ×2 + 10.88sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.89sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.90sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.91sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.91sINFOcontroller_managerShutdown request received.... + 10.91sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.91sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.91sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.91sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.91sINFOvideo_server2026/07/30 16:11:16 INF shutting down gracefully ×2 + 10.91sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.91sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.91sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.91sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.91sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.91sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.91sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.91sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.91sINFOcontroller_managerShutting down the controller manager. + 10.91sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.91sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.91sINFOvideo_server2026/07/30 16:11:16 INF [WebRTC] closing ×2 + 10.91sINFOvideo_server2026/07/30 16:11:16 INF [RTSP] closing ×2 + 10.91sINFOvideo_server2026/07/30 16:11:16 INF waiting for running hooks ×2 + 10.91sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.91sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.92sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.92sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.92sINFOui_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 + 10.92sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.92sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.92sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.92sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.92sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.92sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.92sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.92sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.92sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.92sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.92sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.92sERRORmove_groupStack trace (most recent call last) in thread 9528: ×2 + 10.92sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.92sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.92sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2c10166a63, in __clone ×2 + 10.92sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2c100d9aa3, in ×2 + 10.92sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2c1036bdb3, in ×2 + 10.92sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f2c10aaeed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.92sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2c106de4d0, in rclcpp::Rate::sleep() ×2 + 10.92sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2c10631a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.92sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2c105f6a71, in ×2 + 10.92sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2c1033a390, in __cxa_throw ×2 + 10.92sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2c10324a54, in std::terminate() ×2 + 10.92sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2c1033a0d9, in ×2 + 10.92sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2c10324ff4, in ×2 + 10.92sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2c100658fe, in abort ×2 + 10.92sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2c1008227d, in raise ×2 + 10.92sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2c100dbb2c, in pthread_kill ×2 + 10.92sERRORmove_groupAborted (Signal sent by tkill() 9101 0) ×2 + 10.92sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.92sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.92sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.92sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.92sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.92sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.92sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.92sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.92sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.92sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.92sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.92sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.92sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.92sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.92sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.92sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.92sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.92sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.92sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.92sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.93sERRORmove_group-9process has died [pid 9101, 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_rggtqap_ --params-file /tmp/launch_params_qofcjoh9 --params-file /tmp/launch_params_8pe88ekw --params-file /tmp/launch_params_5636inam --params-file /tmp/launch_params_dkq_wuxp --params-file /tmp/launch_params_1ywp5txr']. ×2 + 11.00sINFOobjective_server_node[0;m[2026-07-30 16:11:16.347] [moveit_pro_license] [info] ×2 + 11.00sINFOobjective_server_node************************************************* ×4 + 11.00sINFOobjective_server_node* MoveIt Pro License ×2 + 11.00sINFOobjective_server_node* Application has successfully terminated ×2 + 11.07sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.09sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.09sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561ecc2fe6a4, in _start ×2 + 11.09sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f44b7d5428a, in __libc_start_main ×2 + 11.09sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f44b7d541d0, in ×2 + 11.09sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f44b7d71bbd, in exit ×2 + 11.09sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f44b7d71a75, in ×2 + 11.09sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f44b82408f5, in spdlog::details::registry::~registry() ×2 + 11.09sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561ecc2fed79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.09sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561ecc305315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.09sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561ecc3045a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.09sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561ecc300b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.09sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x561ecc2fed79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.09sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f44b88fa454, in rclcpp::Node::~Node() ×2 + 11.09sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f44b88b5515, in ×2 + 11.09sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f44b88f8d20, in ×2 + 11.09sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f44b88f8c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.09sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f44b88b55d9, in ×2 + 11.09sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f44b88ba161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.09sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f4468bff030]) ×2 + 11.12sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.12sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.12sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 11.63sERRORobjective_server_node_main-14process has died [pid 9106, 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_ij6c0stz --params-file /tmp/launch_params_cyobj6nj --params-file /tmp/launch_params_aayg32xm --params-file /tmp/launch_params_sei3rod3 --params-file /tmp/launch_params_yffjto43 --params-file /tmp/launch_params_ccf_v059 --params-file /tmp/launch_params_x655dz88 --params-file /tmp/launch_params_mw727tim --params-file /tmp/launch_params_pg70kvlu']. ×2 + 11.63sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 11.85sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9189] ×2 + 11.85sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.89sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9105] ×2 + 11.90sINFOexecute_objective_bridge-17process has finished cleanly [pid 9109] ×2 + 11.91sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9104] ×2 + 11.93sINFOcomponent_container_mt-16process has finished cleanly [pid 9108] ×2 + 11.93sERRORui_teleop_bridge-18process has died [pid 9110, 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_mrwu5c3l']. ×2 + 11.95sINFOparameter_manager_node-10process has finished cleanly [pid 9102] ×2 + 11.96sINFOwaypoint_manager_node-11process has finished cleanly [pid 9103] ×2 + 13.03sINFOcomponent_container_mt-15process has finished cleanly [pid 9107] ×2 + 13.33sINFOweb_bridge-19process has finished cleanly [pid 9111] ×2 + 13.33sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.64sINFOros2_control_node-1process has finished cleanly [pid 9064] ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.1s | 6 errors · 72 warnings · 288 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708049 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708049 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.789663 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.789663 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_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 + 1.74sERRORobjective_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: 1785427852.85020375 seconds ×3 + 1.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.75sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802186 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802186 ms (missed cycles : 2).[0m ×2 + 2.34sWARNobjective_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 + 2.34sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 2.34sINFOobjective_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 + 2.34sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785427853.45310378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785427853.63324428 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328241 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328241 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785427854.23276401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_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 + 3.15sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785427854.25505686 seconds ×3 + 3.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785427854.92877531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.92sINFOros2_control_node[2026-07-30 16:10:55.034] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-07-30 16:10:55.034] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028051 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028051 ms (missed cycles : 5).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839168 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839168 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.487886 ms (missed cycles : 6). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.487886 ms (missed cycles : 6).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775925 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775925 ms (missed cycles : 3).[0m ×2 + 7.25sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.26sINFOros2_control_node[2026-07-30 16:10:58.366] [info] Received new action goal ×2 + 7.26sINFOros2_control_node[2026-07-30 16:10:58.366] [info] Accepted new action goal ×2 + 7.26sINFOros2_control_node[2026-07-30 16:10:58.366] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.050135 ms (missed cycles : 4). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.050135 ms (missed cycles : 4).[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732873 ms (missed cycles : 5). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732873 ms (missed cycles : 5).[0m ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241447 ms (missed cycles : 2). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241447 ms (missed cycles : 2).[0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.628640 ms (missed cycles : 7). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.628640 ms (missed cycles : 7).[0m ×2 + 12.09sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.772024 ms (missed cycles : 5). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.772024 ms (missed cycles : 5).[0m ×2 + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339860 ms (missed cycles : 4). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339860 ms (missed cycles : 4).[0m ×2 + 14.24sINFOros2_control_node[2026-07-30 16:11:05.352] [info] Got request to cancel active goal. ×2 + 14.24sINFOros2_control_node[2026-07-30 16:11:05.352] [info] Canceling active goal... ×2 + 14.25sERRORobjective_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: 1785427865.35779953 seconds ×3 + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242540 ms (missed cycles : 4). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242540 ms (missed cycles : 4).[0m ×2 + 14.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785427865.95457149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705084 ms (missed cycles : 3). + 15.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705084 ms (missed cycles : 3).[0m ×2 + 16.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785427867.26470876 seconds ×3 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.563982 ms (missed cycles : 6). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.563982 ms (missed cycles : 6).[0m ×2 + 16.74sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785427867.85388398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.75sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.75sINFOobjective_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 + 16.75sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.75sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785427867.85968947 seconds ×3 + 17.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785427868.59145927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785427868.59196305 seconds ×3 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.1s | 3 errors · 69 warnings · 184 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.098230 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.098230 ms (missed cycles : 7).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060772 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060772 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357501 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357501 ms (missed cycles : 3).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1785427841.78929424 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098413 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098413 ms (missed cycles : 4).[0m ×2 + 3.75sWARNobjective_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 + 3.75sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.75sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1785427842.42990875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.91sINFOros2_control_node[2026-07-30 16:10:42.574] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-07-30 16:10:42.574] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.083445 ms (missed cycles : 8). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.083445 ms (missed cycles : 8).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343762 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343762 ms (missed cycles : 4).[0m ×2 + 5.81sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.81sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179844 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179844 ms (missed cycles : 3).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656051 ms (missed cycles : 6). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656051 ms (missed cycles : 6).[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051669 ms (missed cycles : 2). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051669 ms (missed cycles : 2).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544639 ms (missed cycles : 3). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544639 ms (missed cycles : 3).[0m ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.236940 ms (missed cycles : 11). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.236940 ms (missed cycles : 11).[0m ×2 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303645 ms (missed cycles : 5). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303645 ms (missed cycles : 5).[0m ×2 + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708049 ms (missed cycles : 2). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708049 ms (missed cycles : 2).[0m ×2 + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.789663 ms (missed cycles : 5). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.789663 ms (missed cycles : 5).[0m ×2 + 14.17sINFOobjective_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 + 14.18sERRORobjective_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: 1785427852.85020375 seconds ×3 + 14.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802186 ms (missed cycles : 2). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802186 ms (missed cycles : 2).[0m ×2 + 14.78sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785427853.45310378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.93sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.93sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.94sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.96sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785427853.63324428 seconds ×3 + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328241 ms (missed cycles : 2). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328241 ms (missed cycles : 2).[0m ×2 + 15.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785427854.23276401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.59sINFOobjective_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 + 15.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785427854.25505686 seconds ×3 + 16.26sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785427854.92877531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.35sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 16.35sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.36sINFOros2_control_node[2026-07-30 16:10:55.034] [info] Received new action goal ×2 + 16.36sINFOros2_control_node[2026-07-30 16:10:55.034] [info] Accepted new action goal ×2 + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028051 ms (missed cycles : 5). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028051 ms (missed cycles : 5).[0m ×2 + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839168 ms (missed cycles : 2). + 17.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839168 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.0s | 3 errors · 63 warnings · 182 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.625074 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.625074 ms (missed cycles : 4).[0m ×2 + 0.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.53sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.53sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.54sINFOros2_control_node[2026-07-30 16:07:33.775] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-07-30 16:07:33.775] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576580 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576580 ms (missed cycles : 3).[0m ×2 + 1.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785427655.06267881 seconds ×3 + 1.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.83sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.405867 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.405867 ms (missed cycles : 6).[0m ×2 + 2.41sWARNobjective_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 + 2.41sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.41sINFOobjective_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 + 2.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785427655.68341756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785427655.76355600 seconds ×3 + 3.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785427656.39732003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576897 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576897 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.26sINFOros2_control_node[2026-07-30 16:07:36.501] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-07-30 16:07:36.501] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080178 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080178 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861840 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861840 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.413817 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.413817 ms (missed cycles : 5).[0m ×2 + 6.59sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×4 + 6.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×8 + 6.60sINFOros2_control_node[2026-07-30 16:07:39.841] [info] Received new action goal ×2 + 6.60sINFOros2_control_node[2026-07-30 16:07:39.841] [info] Accepted new action goal ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784919 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784919 ms (missed cycles : 2).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714602 ms (missed cycles : 2). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714602 ms (missed cycles : 2).[0m ×2 + 8.92sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 8.93sINFOros2_control_node[2026-07-30 16:07:42.169] [info] Received new action goal ×2 + 8.93sINFOros2_control_node[2026-07-30 16:07:42.169] [info] Accepted new action goal ×2 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992811 ms (missed cycles : 2). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992811 ms (missed cycles : 2).[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718242 ms (missed cycles : 2). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718242 ms (missed cycles : 2).[0m ×2 + 11.28sINFOros2_control_node[2026-07-30 16:07:44.519] [info] Received new action goal ×2 + 11.28sINFOros2_control_node[2026-07-30 16:07:44.519] [info] Accepted new action goal ×2 + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723596 ms (missed cycles : 5). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723596 ms (missed cycles : 5).[0m ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946909 ms (missed cycles : 5). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946909 ms (missed cycles : 5).[0m ×2 + 13.60sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.105676 ms (missed cycles : 7). + 13.61sINFOobjective_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 + 13.61sINFOros2_control_node[2026-07-30 16:07:46.849] [info] Received new action goal ×2 + 13.61sINFOros2_control_node[2026-07-30 16:07:46.849] [info] Accepted new action goal ×2 + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.105676 ms (missed cycles : 7).[0m ×2 + 13.62sINFOros2_control_node[2026-07-30 16:07:46.861] [info] Got request to cancel active goal. ×2 + 13.62sINFOros2_control_node[2026-07-30 16:07:46.861] [info] Canceling active goal... ×2 + 13.63sERRORobjective_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: 1785427666.87043214 seconds ×3 + 14.30sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785427667.54023743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.48sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 14.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.48sINFOros2_control_node[2026-07-30 16:07:47.723] [info] Received new action goal ×2 + 14.48sINFOros2_control_node[2026-07-30 16:07:47.723] [info] Accepted new action goal ×2 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731278 ms (missed cycles : 2). + 14.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731278 ms (missed cycles : 2).[0m ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182709 ms (missed cycles : 4). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182709 ms (missed cycles : 4).[0m ×2 + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395405 ms (missed cycles : 2). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395405 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 63 warnings · 194 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×4 + 0.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.17sINFOros2_control_node[2026-07-30 16:07:54.716] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-07-30 16:07:54.716] [info] Accepted new action goal ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900770 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900770 ms (missed cycles : 2).[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275470 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275470 ms (missed cycles : 2).[0m ×2 + 2.35sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 2.64sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 2.64sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 2.65sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 2.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1785427677.19351268 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109540 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109540 ms (missed cycles : 2).[0m ×2 + 3.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.926159 ms (missed cycles : 5). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.926159 ms (missed cycles : 5).[0m ×2 + 3.98sWARNobjective_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 + 3.98sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.98sINFOobjective_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 + 4.02sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1785427678.56330991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.21sINFOros2_control_node[2026-07-30 16:07:58.757] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-07-30 16:07:58.757] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.956985 ms (missed cycles : 3). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.956985 ms (missed cycles : 3).[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162861 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162861 ms (missed cycles : 2).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890293 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890293 ms (missed cycles : 2).[0m ×2 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304983 ms (missed cycles : 2). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304983 ms (missed cycles : 2).[0m ×2 + 8.30sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.30sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.31sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.56sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 8.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.57sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 8.57sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.57sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 8.61sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 8.62sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 8.65sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 8.65sINFOros2_control_nodeMuJoCo sim: 0.39% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.66sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×4 + 8.69sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 8.70sINFOobjective_server_nodeFound path in 5 iterations (0.00277381 s). ×2 + 8.74sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X____________X] ×2 + 8.75sINFOobjective_server_nodeFound path in 1 iterations (0.0019682 s). ×2 + 8.80sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_________________________X] ×2 + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.139083 ms (missed cycles : 5). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.139083 ms (missed cycles : 5).[0m ×2 + 8.97sINFOros2_control_node[2026-07-30 16:08:03.519] [info] Received new action goal ×2 + 8.97sINFOros2_control_node[2026-07-30 16:08:03.519] [info] Accepted new action goal ×2 + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988496 ms (missed cycles : 2). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988496 ms (missed cycles : 2).[0m ×2 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047054 ms (missed cycles : 2). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047054 ms (missed cycles : 2).[0m ×2 + 11.42sINFOobjective_server_nodeFound path in 0 iterations (6.01e-07 s). ×2 + 11.42sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.42sINFOobjective_server_nodeFound path in 0 iterations (5.31e-07 s). ×2 + 11.42sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.43sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 11.46sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 11.49sINFOobjective_server_nodeFound path in 5 iterations (0.00471916 s). ×2 + 11.52sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 11.59sINFOros2_control_node[2026-07-30 16:08:06.138] [info] Received new action goal ×2 + 11.59sINFOros2_control_node[2026-07-30 16:08:06.138] [info] Accepted new action goal ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156203 ms (missed cycles : 2). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156203 ms (missed cycles : 2).[0m ×2 + 11.99sINFOros2_control_node[2026-07-30 16:08:06.530] [info] Received new action goal ×2 + 11.99sINFOros2_control_node[2026-07-30 16:08:06.530] [info] Accepted new action goal ×2 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.415004 ms (missed cycles : 6). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.415004 ms (missed cycles : 6).[0m ×2 + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715627 ms (missed cycles : 2). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715627 ms (missed cycles : 2).[0m ×2 + 14.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 14.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 14.39sINFOros2_control_node[2026-07-30 16:08:08.936] [info] Received new action goal ×2 + 14.39sINFOros2_control_node[2026-07-30 16:08:08.936] [info] Accepted new action goal ×2 + 14.40sINFOobjective_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 + 14.41sINFOros2_control_node[2026-07-30 16:08:08.953] [info] Got request to cancel active goal. ×2 + 14.41sINFOros2_control_node[2026-07-30 16:08:08.953] [info] Canceling active goal... ×2 + 14.41sERRORobjective_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: 1785427688.95973158 seconds ×3 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404027 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404027 ms (missed cycles : 2).[0m ×2 + 15.07sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1785427689.61426449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.21sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.21sINFOros2_control_node[2026-07-30 16:08:09.757] [info] Received new action goal ×2 + 15.21sINFOros2_control_node[2026-07-30 16:08:09.757] [info] Accepted new action goal ×2 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269165 ms (missed cycles : 3). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269165 ms (missed cycles : 3).[0m ×2 + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985624 ms (missed cycles : 2). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985624 ms (missed cycles : 2).[0m ×2 + 17.60sINFOros2_control_node[2026-07-30 16:08:12.141] [info] Received new action goal ×2 + 17.60sINFOros2_control_node[2026-07-30 16:08:12.141] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 63 warnings · 165 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718242 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718242 ms (missed cycles : 2).[0m ×2 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 0.79sINFOros2_control_node[2026-07-30 16:07:44.519] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-07-30 16:07:44.519] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723596 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723596 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946909 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946909 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.105676 ms (missed cycles : 7). + 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 16:07:46.849] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-07-30 16:07:46.849] [info] Accepted new action goal ×2 + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.105676 ms (missed cycles : 7).[0m ×2 + 3.13sINFOros2_control_node[2026-07-30 16:07:46.861] [info] Got request to cancel active goal. ×2 + 3.14sINFOros2_control_node[2026-07-30 16:07:46.861] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1785427666.87043214 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.24sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785427667.54023743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.00sINFOros2_control_node[2026-07-30 16:07:47.723] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-07-30 16:07:47.723] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731278 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731278 ms (missed cycles : 2).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182709 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182709 ms (missed cycles : 4).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395405 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395405 ms (missed cycles : 2).[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.590385 ms (missed cycles : 4). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.590385 ms (missed cycles : 4).[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.774562 ms (missed cycles : 8). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.774562 ms (missed cycles : 8).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648112 ms (missed cycles : 3). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648112 ms (missed cycles : 3).[0m ×2 + 10.19sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 10.20sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 10.20sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.690722 ms (missed cycles : 8). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.690722 ms (missed cycles : 8).[0m ×2 + 10.47sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 10.47sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 10.48sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 10.49sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×4 + 10.54sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 10.57sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 10.60sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 10.66sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 10.68sINFOobjective_server_nodeFound path in 5 iterations (0.00407737 s). ×2 + 10.72sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X____________X] ×2 + 10.75sINFOobjective_server_nodeFound path in 1 iterations (0.00280385 s). ×2 + 10.80sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_________________________X] ×2 + 10.82sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 10.89sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 10.99sINFOros2_control_node[2026-07-30 16:07:54.716] [info] Received new action goal ×2 + 10.99sINFOros2_control_node[2026-07-30 16:07:54.716] [info] Accepted new action goal ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900770 ms (missed cycles : 2). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900770 ms (missed cycles : 2).[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275470 ms (missed cycles : 2). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275470 ms (missed cycles : 2).[0m ×2 + 13.17sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 13.45sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 13.46sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 13.46sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 13.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1785427677.19351268 seconds ×3 + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109540 ms (missed cycles : 2). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109540 ms (missed cycles : 2).[0m ×2 + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.926159 ms (missed cycles : 5). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.926159 ms (missed cycles : 5).[0m ×2 + 14.84sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1785427678.56330991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.02sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 15.03sINFOros2_control_node[2026-07-30 16:07:58.757] [info] Received new action goal ×2 + 15.03sINFOros2_control_node[2026-07-30 16:07:58.757] [info] Accepted new action goal ×2 + 15.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.956985 ms (missed cycles : 3). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.956985 ms (missed cycles : 3).[0m ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162861 ms (missed cycles : 2). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162861 ms (missed cycles : 2).[0m ×2 + 17.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890293 ms (missed cycles : 2). + 17.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890293 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 3 errors · 66 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539608 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539608 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_node[2026-07-30 16:10:17.419] [info] Received new action goal ×2 + 0.31sINFOros2_control_node[2026-07-30 16:10:17.419] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823287 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823287 ms (missed cycles : 2).[0m ×2 + 1.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.95sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.96sINFOros2_control_node[2026-07-30 16:10:19.068] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-07-30 16:10:19.068] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792196 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792196 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332489 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332489 ms (missed cycles : 5).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785427820.34520841 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 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 ×2 + 3.96sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 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 ×4 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785427821.09968424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683701 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683701 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-07-30 16:10:21.286] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-07-30 16:10:21.286] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346868 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346868 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265550 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265550 ms (missed cycles : 2).[0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764520 ms (missed cycles : 5). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764520 ms (missed cycles : 5).[0m ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699467 ms (missed cycles : 3). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699467 ms (missed cycles : 3).[0m ×2 + 9.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316106 ms (missed cycles : 2). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316106 ms (missed cycles : 2).[0m ×2 + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.362446 ms (missed cycles : 4). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.362446 ms (missed cycles : 4).[0m ×2 + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.275433 ms (missed cycles : 5). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.275433 ms (missed cycles : 5).[0m ×2 + 12.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596198 ms (missed cycles : 2). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596198 ms (missed cycles : 2).[0m ×2 + 13.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.622352 ms (missed cycles : 7). + 13.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.622352 ms (missed cycles : 7).[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 + 14.24sERRORobjective_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: 1785427831.35008550 seconds ×3 + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.716000 ms (missed cycles : 5). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.716000 ms (missed cycles : 5).[0m ×2 + 14.82sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1785427831.93271327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.06sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 15.06sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.09sINFOros2_control_node[2026-07-30 16:10:32.193] [info] Received new action goal ×2 + 15.09sINFOros2_control_node[2026-07-30 16:10:32.193] [info] Accepted new action goal ×2 + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873706 ms (missed cycles : 2). + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873706 ms (missed cycles : 2).[0m ×2 + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.425560 ms (missed cycles : 6). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.425560 ms (missed cycles : 6).[0m ×2 + 17.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475174 ms (missed cycles : 4). + 17.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475174 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.8s | 3 errors · 75 warnings · 346 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.63sWARNobjective_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 + 0.63sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 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 ×14 + 0.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_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 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.163079 ms (missed cycles : 5). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.163079 ms (missed cycles : 5).[0m ×2 + 6.09sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.11sINFOros2_control_node[2026-07-30 16:07:03.307] [info] Received new action goal ×2 + 6.11sINFOros2_control_node[2026-07-30 16:07:03.307] [info] Accepted new action goal ×2 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.273563 ms (missed cycles : 5). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.273563 ms (missed cycles : 5).[0m ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.661028 ms (missed cycles : 7). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.661028 ms (missed cycles : 7).[0m ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572510 ms (missed cycles : 4). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572510 ms (missed cycles : 4).[0m ×2 + 9.81sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 9.83sINFOros2_control_node[2026-07-30 16:07:07.027] [info] Received new action goal ×2 + 9.83sINFOros2_control_node[2026-07-30 16:07:07.027] [info] Accepted new action goal ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229526 ms (missed cycles : 2). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229526 ms (missed cycles : 2).[0m ×2 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448418 ms (missed cycles : 6). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448418 ms (missed cycles : 6).[0m ×2 + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902849 ms (missed cycles : 3). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902849 ms (missed cycles : 3).[0m ×2 + 13.12sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 13.13sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.14sINFOros2_control_node[2026-07-30 16:07:10.337] [info] Received new action goal ×2 + 13.14sINFOros2_control_node[2026-07-30 16:07:10.337] [info] Accepted new action goal ×2 + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576856 ms (missed cycles : 4). + 13.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576856 ms (missed cycles : 4).[0m ×2 + 13.64sINFOobjective_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 + 13.65sINFOros2_control_node[2026-07-30 16:07:10.853] [info] Got request to cancel active goal. ×2 + 13.65sINFOros2_control_node[2026-07-30 16:07:10.853] [info] Canceling active goal... ×2 + 13.67sERRORobjective_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: 1785427630.86946130 seconds ×3 + 13.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 13.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 13.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 13.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 13.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 13.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785427631.47839499 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 1.731794 ms (missed cycles : 2). + 14.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731794 ms (missed cycles : 2).[0m ×2 + 14.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785427631.60865927 seconds ×3 + 15.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785427632.22250819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.20sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 15.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.21sINFOros2_control_node[2026-07-30 16:07:12.406] [info] Received new action goal ×2 + 15.21sINFOros2_control_node[2026-07-30 16:07:12.406] [info] Accepted new action goal ×2 + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762029 ms (missed cycles : 3). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762029 ms (missed cycles : 3).[0m ×2 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641055 ms (missed cycles : 3). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641055 ms (missed cycles : 3).[0m ×2 + 17.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.111231 ms (missed cycles : 7). + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.111231 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 63 warnings · 143 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704994 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704994 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824287 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824287 ms (missed cycles : 2).[0m ×2 + 1.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 1.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.882175 ms (missed cycles : 5). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.882175 ms (missed cycles : 5).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785427809.63069415 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.386793 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.386793 ms (missed cycles : 6).[0m ×2 + 3.35sWARNobjective_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 + 3.35sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.36sINFOobjective_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 + 3.47sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785427810.32502341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.71sINFOros2_control_node[2026-07-30 16:10:10.568] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-07-30 16:10:10.568] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350082 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350082 ms (missed cycles : 3).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680735 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680735 ms (missed cycles : 2).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818991 ms (missed cycles : 2). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818991 ms (missed cycles : 2).[0m ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536696 ms (missed cycles : 3). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536696 ms (missed cycles : 3).[0m ×2 + 7.85sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.85sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.85sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.13sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 8.13sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.14sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 8.14sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.15sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579523 ms (missed cycles : 3). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579523 ms (missed cycles : 3).[0m ×2 + 8.19sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 8.21sINFOobjective_server_nodeFound path in 5 iterations (0.00427223 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 8.30sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.33sINFOros2_control_node[2026-07-30 16:10:15.187] [info] Received new action goal ×2 + 8.33sINFOros2_control_node[2026-07-30 16:10:15.187] [info] Accepted new action goal ×2 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637795 ms (missed cycles : 2). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637795 ms (missed cycles : 2).[0m ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539608 ms (missed cycles : 3). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539608 ms (missed cycles : 3).[0m ×2 + 10.56sINFOros2_control_node[2026-07-30 16:10:17.419] [info] Received new action goal ×2 + 10.56sINFOros2_control_node[2026-07-30 16:10:17.419] [info] Accepted new action goal ×2 + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823287 ms (missed cycles : 2). + 11.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823287 ms (missed cycles : 2).[0m ×2 + 12.20sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 12.20sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.21sINFOros2_control_node[2026-07-30 16:10:19.068] [info] Received new action goal ×2 + 12.21sINFOros2_control_node[2026-07-30 16:10:19.068] [info] Accepted new action goal ×2 + 12.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792196 ms (missed cycles : 2). + 12.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792196 ms (missed cycles : 2).[0m ×2 + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332489 ms (missed cycles : 5). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332489 ms (missed cycles : 5).[0m ×2 + 13.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785427820.34520841 seconds ×3 + 14.24sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785427821.09968424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683701 ms (missed cycles : 5). + 14.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683701 ms (missed cycles : 5).[0m ×2 + 14.42sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 14.43sINFOros2_control_node[2026-07-30 16:10:21.286] [info] Received new action goal ×2 + 14.43sINFOros2_control_node[2026-07-30 16:10:21.286] [info] Accepted new action goal ×2 + 15.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346868 ms (missed cycles : 3). + 15.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346868 ms (missed cycles : 3).[0m ×2 + 16.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265550 ms (missed cycles : 2). + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265550 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.4s | 3 errors · 60 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.275433 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.275433 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596198 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596198 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.622352 ms (missed cycles : 7). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.622352 ms (missed cycles : 7).[0m ×2 + 3.01sINFOobjective_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 + 3.01sERRORobjective_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: 1785427831.35008550 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.716000 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.716000 ms (missed cycles : 5).[0m ×2 + 3.59sWARNobjective_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 ×2 + 3.59sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.59sINFOobjective_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 ×4 + 3.59sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1785427831.93271327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.86sINFOros2_control_node[2026-07-30 16:10:32.193] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-07-30 16:10:32.193] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873706 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873706 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.425560 ms (missed cycles : 6). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.425560 ms (missed cycles : 6).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475174 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475174 ms (missed cycles : 4).[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170663 ms (missed cycles : 2). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170663 ms (missed cycles : 2).[0m ×2 + 7.87sINFOros2_control_node[2026-07-30 16:10:36.203] [info] Received new action goal ×2 + 7.87sINFOros2_control_node[2026-07-30 16:10:36.204] [info] Accepted new action goal ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.707892 ms (missed cycles : 8). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.707892 ms (missed cycles : 8).[0m ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703905 ms (missed cycles : 3). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703905 ms (missed cycles : 3).[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.098230 ms (missed cycles : 7). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.098230 ms (missed cycles : 7).[0m ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060772 ms (missed cycles : 5). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060772 ms (missed cycles : 5).[0m ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357501 ms (missed cycles : 3). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357501 ms (missed cycles : 3).[0m ×2 + 13.45sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1785427841.78929424 seconds ×3 + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098413 ms (missed cycles : 4). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098413 ms (missed cycles : 4).[0m ×2 + 14.09sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1785427842.42990875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.23sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 14.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.24sINFOros2_control_node[2026-07-30 16:10:42.574] [info] Received new action goal ×2 + 14.24sINFOros2_control_node[2026-07-30 16:10:42.574] [info] Accepted new action goal ×2 + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.083445 ms (missed cycles : 8). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.083445 ms (missed cycles : 8).[0m ×2 + 15.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343762 ms (missed cycles : 4). + 15.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343762 ms (missed cycles : 4).[0m ×2 + 16.14sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 16.14sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179844 ms (missed cycles : 3). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179844 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 10.1s | 24 errors · 63 warnings · 263 info |
+ 0.00sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×24 + 0.01sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561322 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561322 ms (missed cycles : 5).[0m ×2 + 1.00sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785427768.02182841 seconds ×3 + 1.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.01sINFOcontroller_managerSuccessfully switched controllers! ×11 + 1.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 1.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.58sWARNobjective_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 + 1.58sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 1.58sINFOobjective_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 + 1.62sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785427768.63541412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_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 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×3 + 1.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×3 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×6 + 1.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×6 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 1.76sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 1.76sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 1.78sINFOros2_control_node[2026-07-30 16:09:28.793] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-07-30 16:09:28.793] [info] Accepted new action goal ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043404 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043404 ms (missed cycles : 4).[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752734 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752734 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_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 + 3.10sINFOobjective_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 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785427770.33775806 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548136 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548136 ms (missed cycles : 2).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785427770.95865107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.12sINFOros2_control_node[2026-07-30 16:09:31.143] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-07-30 16:09:31.143] [info] Accepted new action goal ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096356 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096356 ms (missed cycles : 2).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685311 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685311 ms (missed cycles : 2).[0m ×2 + 6.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 6.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 6.79sINFOros2_control_node[2026-07-30 16:09:33.806] [info] Received new action goal ×2 + 6.79sINFOros2_control_node[2026-07-30 16:09:33.806] [info] Accepted new action goal ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914403 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914403 ms (missed cycles : 3).[0m ×2 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605223 ms (missed cycles : 2). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605223 ms (missed cycles : 2).[0m ×2 + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.453660 ms (missed cycles : 5). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.453660 ms (missed cycles : 5).[0m ×2 + 8.88sINFOros2_control_node[2026-07-30 16:09:35.894] [info] Received new action goal ×2 + 8.88sINFOros2_control_node[2026-07-30 16:09:35.894] [info] Accepted new action goal ×2 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359657 ms (missed cycles : 6). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359657 ms (missed cycles : 6).[0m ×2 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.011916 ms (missed cycles : 6). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.011916 ms (missed cycles : 6).[0m ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102724 ms (missed cycles : 4). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102724 ms (missed cycles : 4).[0m ×2 + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871378 ms (missed cycles : 3). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871378 ms (missed cycles : 3).[0m ×2 + 13.44sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1785427780.45689583 seconds ×3 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803320 ms (missed cycles : 2). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803320 ms (missed cycles : 2).[0m ×2 + 14.17sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1785427781.19051504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 14.34sINFOobjective_server_nodeFound path in 5 iterations (0.00434613 s). ×2 + 14.39sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 14.41sINFOros2_control_node[2026-07-30 16:09:41.426] [info] Received new action goal ×2 + 14.41sINFOros2_control_node[2026-07-30 16:09:41.426] [info] Accepted new action goal ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.365110 ms (missed cycles : 6). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.365110 ms (missed cycles : 6).[0m ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.977648 ms (missed cycles : 6). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.977648 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 4.4s | 45 warnings · 130 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727854 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727854 ms (missed cycles : 2).[0m ×2 + 0.33sWARNobjective_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 + 0.33sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 0.33sINFOobjective_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 + 0.33sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785427702.19627142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.44sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 0.44sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.47sINFOros2_control_node[2026-07-30 16:08:22.337] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-07-30 16:08:22.337] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688053 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688053 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001512 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001512 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785427704.34553695 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127020 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127020 ms (missed cycles : 2).[0m ×2 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.07sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785427705.93419600 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 3.659816 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659816 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_node[2026-07-30 16:08:26.744] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316123 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316123 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_node[0;93m2026-07-30 16:08:27.348517745 [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 + 5.48sINFOobjective_server_node[0;93m2026-07-30 16:08:27.348554668 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.62sINFOobjective_server_node[2026-07-30 16:08:27.481] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.02sINFOobjective_server_node[0;93m2026-07-30 16:08:27.884084126 [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 + 6.02sINFOobjective_server_node[0;93m2026-07-30 16:08:27.884124239 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.10sINFOobjective_server_node[2026-07-30 16:08:27.969] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.15sINFOobjective_server_node[0;93m2026-07-30 16:08:28.006852628 [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 + 6.15sINFOobjective_server_node[0;93m2026-07-30 16:08:28.010044272 [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 + 6.15sINFOobjective_server_node[0;93m2026-07-30 16:08:28.010079495 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.16sINFOobjective_server_node[2026-07-30 16:08:28.028] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863286 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863286 ms (missed cycles : 2).[0m ×2 + 6.44sINFOobjective_server_node[0;93m2026-07-30 16:08:28.309237511 [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 + 6.47sINFOobjective_server_node[0;93m2026-07-30 16:08:28.328775495 [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 + 6.47sINFOobjective_server_node[0;93m2026-07-30 16:08:28.328837649 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036998 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036998 ms (missed cycles : 2).[0m ×2 + 7.91sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785427709.77366400 seconds ×3 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553252 ms (missed cycles : 4). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553252 ms (missed cycles : 4).[0m ×2 + 8.58sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785427710.44740844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 8.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 8.66sINFOobjective_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 + 8.67sINFOobjective_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 + 8.93sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 8.93sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 8.98sINFOros2_control_node[2026-07-30 16:08:30.841] [info] Received new action goal ×2 + 8.98sINFOros2_control_node[2026-07-30 16:08:30.841] [info] Accepted new action goal ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841742 ms (missed cycles : 2). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841742 ms (missed cycles : 2).[0m ×2 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834121 ms (missed cycles : 3). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834121 ms (missed cycles : 3).[0m ×2 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824912 ms (missed cycles : 3). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824912 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.9s | 39 warnings · 162 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795728 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795728 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210616 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210616 ms (missed cycles : 2).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785427700.70267153 seconds ×3 + 2.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340291 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340291 ms (missed cycles : 5).[0m ×2 + 2.58sWARNobjective_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 + 2.58sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.58sINFOobjective_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 + 2.58sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785427701.36880708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785427701.42900252 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727854 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727854 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785427702.19627142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.55sINFOros2_control_node[2026-07-30 16:08:22.337] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-07-30 16:08:22.337] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688053 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688053 ms (missed cycles : 2).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001512 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001512 ms (missed cycles : 3).[0m ×2 + 5.56sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785427704.34553695 seconds ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127020 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127020 ms (missed cycles : 2).[0m ×2 + 7.15sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785427705.93419600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659816 ms (missed cycles : 3). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659816 ms (missed cycles : 3).[0m ×2 + 7.96sINFOobjective_server_node[2026-07-30 16:08:26.744] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316123 ms (missed cycles : 2). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316123 ms (missed cycles : 2).[0m ×2 + 8.56sINFOobjective_server_node[0;93m2026-07-30 16:08:27.348517745 [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 + 8.56sINFOobjective_server_node[0;93m2026-07-30 16:08:27.348554668 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.69sINFOobjective_server_node[2026-07-30 16:08:27.481] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.10sINFOobjective_server_node[0;93m2026-07-30 16:08:27.884084126 [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 + 9.10sINFOobjective_server_node[0;93m2026-07-30 16:08:27.884124239 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.18sINFOobjective_server_node[2026-07-30 16:08:27.969] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.23sINFOobjective_server_node[0;93m2026-07-30 16:08:28.006852628 [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 + 9.23sINFOobjective_server_node[0;93m2026-07-30 16:08:28.010044272 [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 + 9.23sINFOobjective_server_node[0;93m2026-07-30 16:08:28.010079495 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.24sINFOobjective_server_node[2026-07-30 16:08:28.028] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863286 ms (missed cycles : 2). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863286 ms (missed cycles : 2).[0m ×2 + 9.52sINFOobjective_server_node[0;93m2026-07-30 16:08:28.309237511 [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 + 9.55sINFOobjective_server_node[0;93m2026-07-30 16:08:28.328775495 [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 + 9.55sINFOobjective_server_node[0;93m2026-07-30 16:08:28.328837649 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×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 6.734196 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.734196 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460639 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460639 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623054 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623054 ms (missed cycles : 4).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785427764.59271765 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105344 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105344 ms (missed cycles : 2).[0m ×2 + 3.60sWARNobjective_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 + 3.60sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.60sINFOobjective_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 + 3.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785427765.22829437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.78sINFOros2_control_node[2026-07-30 16:09:25.401] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-07-30 16:09:25.401] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416363 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416363 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_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 + 5.13sINFOobjective_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 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111098 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111098 ms (missed cycles : 2).[0m ×2 + 5.40sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 5.41sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561322 ms (missed cycles : 5). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561322 ms (missed cycles : 5).[0m ×2 + 6.40sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785427768.02182841 seconds ×3 + 6.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 6.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 6.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 6.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 7.02sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785427768.63541412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.07sINFOobjective_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 + 7.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 7.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 7.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 7.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 7.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.16sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 7.17sINFOros2_control_node[2026-07-30 16:09:28.793] [info] Received new action goal ×2 + 7.17sINFOros2_control_node[2026-07-30 16:09:28.793] [info] Accepted new action goal ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043404 ms (missed cycles : 4). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043404 ms (missed cycles : 4).[0m ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752734 ms (missed cycles : 2). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752734 ms (missed cycles : 2).[0m ×2 + 8.72sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785427770.33775806 seconds ×3 + 9.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548136 ms (missed cycles : 2). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548136 ms (missed cycles : 2).[0m ×2 + 9.34sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785427770.95865107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.49sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 9.49sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 9.52sINFOros2_control_node[2026-07-30 16:09:31.143] [info] Received new action goal ×2 + 9.52sINFOros2_control_node[2026-07-30 16:09:31.143] [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 · 236 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785427764.59271765 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105344 ms (missed cycles : 2). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105344 ms (missed cycles : 2).[0m ×2 + 0.63sWARNobjective_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 + 0.63sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 0.63sINFOobjective_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 + 0.64sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785427765.22829437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 0.80sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.80sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 0.81sINFOros2_control_node[2026-07-30 16:09:25.401] [info] Received new action goal ×2 + 0.81sINFOros2_control_node[2026-07-30 16:09:25.401] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416363 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416363 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_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 + 2.09sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.16sINFOobjective_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 + 2.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.16sINFOros2_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 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111098 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111098 ms (missed cycles : 2).[0m ×2 + 2.43sERRORobjective_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 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561322 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561322 ms (missed cycles : 5).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785427768.02182841 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.04sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785427768.63541412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.20sINFOros2_control_node[2026-07-30 16:09:28.793] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-07-30 16:09:28.793] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043404 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043404 ms (missed cycles : 4).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752734 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752734 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785427770.33775806 seconds ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548136 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548136 ms (missed cycles : 2).[0m ×2 + 6.37sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785427770.95865107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 6.52sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 6.55sINFOros2_control_node[2026-07-30 16:09:31.143] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-07-30 16:09:31.143] [info] Accepted new action goal ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096356 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096356 ms (missed cycles : 2).[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685311 ms (missed cycles : 2). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685311 ms (missed cycles : 2).[0m ×2 + 9.20sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 9.20sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.9s | 3 errors · 39 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.628640 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.628640 ms (missed cycles : 7).[0m ×2 + 0.58sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.772024 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.772024 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339860 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339860 ms (missed cycles : 4).[0m ×2 + 2.73sINFOobjective_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 + 2.73sINFOros2_control_node[2026-07-30 16:11:05.352] [info] Got request to cancel active goal. ×2 + 2.73sINFOros2_control_node[2026-07-30 16:11:05.352] [info] Canceling active goal... ×2 + 2.74sERRORobjective_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: 1785427865.35779953 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242540 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242540 ms (missed cycles : 4).[0m ×2 + 3.33sWARNobjective_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 + 3.33sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.33sINFOobjective_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 + 3.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785427865.95457149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705084 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705084 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785427867.26470876 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.563982 ms (missed cycles : 6). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.563982 ms (missed cycles : 6).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785427867.85388398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.24sINFOobjective_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 + 5.24sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.24sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785427867.85968947 seconds ×3 + 5.97sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785427868.59145927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785427868.59196305 seconds ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882805 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882805 ms (missed cycles : 3).[0m ×2 + 6.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785427869.17107606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213836 ms (missed cycles : 2). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213836 ms (missed cycles : 2).[0m ×2 + 7.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785427870.32121062 seconds ×3 + 7.74sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.6s | 58 warnings · 549 info |
+ 0.00sINFOobjective_server_node[2026-07-30 16:06:52.702] [moveit_pro_license] [info] ×2 + 0.00sINFOobjective_server_node************************************************* ×4 + 0.00sINFOobjective_server_node* MoveIt Pro License ×2 + 0.00sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.13sINFOobjective_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 + 0.13sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.14sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.14sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.14sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.14sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.14sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.14sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.14sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.14sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.47sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.47sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.47sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.47sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.47sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.47sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.47sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.47sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.47sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.47sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.47sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.47sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.47sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.47sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.55sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.55sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.68sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.68sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.69sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.73sWARNobjective_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 + 0.76sINFOcomponent_container_mt[2026-07-30 16:06:53.459] [moveit_pro_license] [info] ×2 + 0.76sINFOcomponent_container_mt************************************************* ×4 + 0.76sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.76sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.77sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 0.77sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 0.78sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.78sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.79sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.79sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.79sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.81sINFOros2_control_node[2026-07-30 16:06:53.516] [info] Controller state will be published at 10 Hz. ×2 + 0.81sINFOros2_control_node[2026-07-30 16:06:53.517] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248137 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248137 ms (missed cycles : 3).[0m ×2 + 1.10sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.10sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.10sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.10sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.13sINFOros2-7process has finished cleanly [pid 9070] ×2 + 1.15sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 1.15sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 1.21sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.21sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.21sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.25sINFOros2_control_node[2026-07-30 16:06:53.949] [info] Controller state will be published at 20 Hz. ×2 + 1.25sINFOros2_control_node[2026-07-30 16:06:53.950] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.55sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.55sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.56sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.56sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 1.56sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 1.59sINFOros2-8process has finished cleanly [pid 9071] ×2 + 1.60sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.60sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.60sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.61sINFOforce_torque_sensor_broadcasterconfigure successful + 1.61sINFOros2_control_nodeconfigure successful[0m ×2 + 1.61sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.61sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×19 + 1.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 1.62sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.62sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.70sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.89sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.89sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.90sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.90sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.90sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 1.90sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 1.92sINFOros2-2process has finished cleanly [pid 9065] ×2 + 1.94sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.94sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.94sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.94sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.94sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.94sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.94sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.94sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.94sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.94sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.94sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.94sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.95sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.95sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.95sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.95sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844252 ms (missed cycles : 5). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844252 ms (missed cycles : 5).[0m ×2 + 2.26sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.26sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.26sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.26sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.27sINFOros2-4process has finished cleanly [pid 9067] ×2 + 2.32sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 2.32sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 2.36sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.36sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.36sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.36sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.36sINFOros2_control_node[2026-07-30 16:06:55.064] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.36sINFOros2_control_node[2026-07-30 16:06:55.064] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.39sINFOros2_control_node[2026-07-30 16:06:55.087] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.39sINFOros2_control_node[2026-07-30 16:06:55.087] [info] Controller state will be published at 50 Hz. ×2 + 2.39sINFOros2_control_node[2026-07-30 16:06:55.092] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.70sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.70sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.71sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.71sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.71sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 2.71sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 2.72sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.73sINFOros2-6process has finished cleanly [pid 9069] ×2 + 2.75sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.75sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.75sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.75sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.75sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.75sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 2.76sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.76sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.86sWARNobjective_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 + 2.87sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 2.87sINFOobjective_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 + 2.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785427615.57053638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785427615.58074498 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 2.88sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.88sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.07sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.07sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.07sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.07sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 3.07sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 3.08sINFOros2-3process has finished cleanly [pid 9066] ×2 + 3.14sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.14sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 3.14sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.14sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.14sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.14sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 3.14sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.14sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.15sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.15sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 3.15sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.15sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 3.15sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.16sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 3.46sINFOros2-5process has finished cleanly [pid 9068] ×2 + 3.46sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785427616.15989423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476929 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476929 ms (missed cycles : 3).[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 4.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 5.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 5.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 6.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 6.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 7.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 7.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.99sINFOobjective_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 + 8.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.08sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 8.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.10sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 8.10sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.8s | 3 errors · 30 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303645 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303645 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708049 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708049 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.789663 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.789663 ms (missed cycles : 5).[0m ×2 + 2.75sINFOobjective_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 + 2.76sERRORobjective_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: 1785427852.85020375 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802186 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802186 ms (missed cycles : 2).[0m ×2 + 3.36sWARNobjective_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 + 3.36sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.36sINFOobjective_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 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785427853.45310378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.53sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785427853.63324428 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328241 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328241 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785427854.23276401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_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 + 4.17sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785427854.25505686 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785427854.92877531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.94sINFOros2_control_node[2026-07-30 16:10:55.034] [info] Received new action goal ×2 + 4.94sINFOros2_control_node[2026-07-30 16:10:55.034] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028051 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028051 ms (missed cycles : 5).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839168 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839168 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.7s | 3 errors · 36 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339860 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339860 ms (missed cycles : 4).[0m ×2 + 0.69sINFOobjective_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 + 0.69sINFOros2_control_node[2026-07-30 16:11:05.352] [info] Got request to cancel active goal. ×2 + 0.69sINFOros2_control_node[2026-07-30 16:11:05.352] [info] Canceling active goal... ×2 + 0.70sERRORobjective_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: 1785427865.35779953 seconds ×3 + 0.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242540 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242540 ms (missed cycles : 4).[0m ×2 + 1.29sWARNobjective_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 + 1.29sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.29sINFOobjective_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 + 1.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785427865.95457149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705084 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705084 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785427867.26470876 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.563982 ms (missed cycles : 6). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.563982 ms (missed cycles : 6).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785427867.85388398 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: 1785427867.85968947 seconds ×3 + 3.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785427868.59145927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785427868.59196305 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882805 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882805 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785427869.17107606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213836 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213836 ms (missed cycles : 2).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785427870.32121062 seconds ×3 + 5.70sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760662 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760662 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 27 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448418 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448418 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902849 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902849 ms (missed cycles : 3).[0m ×2 + 1.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.82sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 1.82sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.83sINFOros2_control_node[2026-07-30 16:07:10.337] [info] Received new action goal ×2 + 1.83sINFOros2_control_node[2026-07-30 16:07:10.337] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576856 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576856 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_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 + 2.35sINFOros2_control_node[2026-07-30 16:07:10.853] [info] Got request to cancel active goal. ×2 + 2.35sINFOros2_control_node[2026-07-30 16:07:10.853] [info] Canceling active goal... ×2 + 2.36sERRORobjective_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: 1785427630.86946130 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 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 ×2 + 2.97sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.97sINFOobjective_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 + 2.97sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785427631.47839499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731794 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731794 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785427631.60865927 seconds ×3 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785427632.22250819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.90sINFOros2_control_node[2026-07-30 16:07:12.406] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-07-30 16:07:12.406] [info] Accepted new action goal ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762029 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762029 ms (missed cycles : 3).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641055 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641055 ms (missed cycles : 3).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.111231 ms (missed cycles : 7). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.111231 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 30 warnings · 91 info |
+ 0.00sINFOros2_control_node[2026-07-30 16:07:32.122] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-07-30 16:07:32.122] [info] Accepted new action goal ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.651453 ms (missed cycles : 4). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.651453 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.625074 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.625074 ms (missed cycles : 4).[0m ×2 + 1.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.64sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-07-30 16:07:33.775] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-07-30 16:07:33.775] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576580 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576580 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785427655.06267881 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.405867 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.405867 ms (missed cycles : 6).[0m ×2 + 3.53sWARNobjective_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 + 3.53sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.53sINFOobjective_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 + 3.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785427655.68341756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785427655.76355600 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785427656.39732003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576897 ms (missed cycles : 4). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576897 ms (missed cycles : 4).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.38sINFOros2_control_node[2026-07-30 16:07:36.501] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-07-30 16:07:36.501] [info] Accepted new action goal ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080178 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080178 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861840 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861840 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 54 warnings · 430 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 0.04sINFOros2-8process has finished cleanly [pid 9071] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.15sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.34sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.35sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 0.35sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 0.36sINFOros2-2process has finished cleanly [pid 9065] ×2 + 0.39sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.39sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.39sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.39sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.39sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.39sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.39sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.39sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.39sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.39sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.39sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.39sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.39sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.40sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.40sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.40sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844252 ms (missed cycles : 5). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844252 ms (missed cycles : 5).[0m ×2 + 0.71sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.71sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.71sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.71sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.71sINFOros2-4process has finished cleanly [pid 9067] ×2 + 0.76sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 0.77sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 0.80sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.81sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.81sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.81sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.81sINFOros2_control_node[2026-07-30 16:06:55.064] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.81sINFOros2_control_node[2026-07-30 16:06:55.064] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.81sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.83sINFOros2_control_node[2026-07-30 16:06:55.087] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.83sINFOros2_control_node[2026-07-30 16:06:55.087] [info] Controller state will be published at 50 Hz. ×2 + 0.84sINFOros2_control_node[2026-07-30 16:06:55.092] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.15sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.15sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.15sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.15sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 1.15sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 1.16sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.16sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.18sINFOros2-6process has finished cleanly [pid 9069] ×2 + 1.20sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.20sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.20sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.20sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.20sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.21sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.21sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.31sWARNobjective_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 + 1.31sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 1.31sINFOobjective_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 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785427615.57053638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785427615.58074498 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.33sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.52sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.52sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.52sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.52sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.52sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 1.52sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 1.52sINFOros2-3process has finished cleanly [pid 9066] ×2 + 1.59sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.59sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.59sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.59sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.59sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.59sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.59sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.59sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.59sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.59sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.59sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.59sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.60sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.60sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.60sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.60sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.90sINFOros2-5process has finished cleanly [pid 9068] ×2 + 1.90sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785427616.15989423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476929 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476929 ms (missed cycles : 3).[0m ×2 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 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 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_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 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 6.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.54sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 6.54sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 7.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 7.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.6s | 27 warnings · 104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415742 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415742 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795728 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795728 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210616 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210616 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785427700.70267153 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340291 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340291 ms (missed cycles : 5).[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 ×2 + 3.61sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 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 ×4 + 3.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785427701.36880708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785427701.42900252 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727854 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727854 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785427702.19627142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.58sINFOros2_control_node[2026-07-30 16:08:22.337] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-07-30 16:08:22.337] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688053 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688053 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001512 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001512 ms (missed cycles : 3).[0m ×2 + 6.59sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785427704.34553695 seconds ×3 | ||||
| ✓ 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 8.303645 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303645 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708049 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708049 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.789663 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.789663 ms (missed cycles : 5).[0m ×2 + 2.75sINFOobjective_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 + 2.76sERRORobjective_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: 1785427852.85020375 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802186 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802186 ms (missed cycles : 2).[0m ×2 + 3.36sWARNobjective_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 + 3.36sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.36sINFOobjective_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 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785427853.45310378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.53sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785427853.63324428 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328241 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328241 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785427854.23276401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_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 + 4.17sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785427854.25505686 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785427854.92877531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.94sINFOros2_control_node[2026-07-30 16:10:55.034] [info] Received new action goal ×2 + 4.94sINFOros2_control_node[2026-07-30 16:10:55.034] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028051 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028051 ms (missed cycles : 5).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839168 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839168 ms (missed cycles : 2).[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.487886 ms (missed cycles : 6). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.487886 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 39 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339860 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339860 ms (missed cycles : 4).[0m ×2 + 0.69sINFOobjective_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 + 0.69sINFOros2_control_node[2026-07-30 16:11:05.352] [info] Got request to cancel active goal. ×2 + 0.69sINFOros2_control_node[2026-07-30 16:11:05.352] [info] Canceling active goal... ×2 + 0.70sERRORobjective_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: 1785427865.35779953 seconds ×3 + 0.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242540 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242540 ms (missed cycles : 4).[0m ×2 + 1.29sWARNobjective_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 + 1.29sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.29sINFOobjective_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 + 1.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785427865.95457149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705084 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705084 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785427867.26470876 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.563982 ms (missed cycles : 6). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.563982 ms (missed cycles : 6).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785427867.85388398 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: 1785427867.85968947 seconds ×3 + 3.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785427868.59145927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785427868.59196305 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882805 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882805 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785427869.17107606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213836 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213836 ms (missed cycles : 2).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785427870.32121062 seconds ×3 + 5.70sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760662 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760662 ms (missed cycles : 2).[0m ×2 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367293 ms (missed cycles : 3). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367293 ms (missed cycles : 3).[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 4.415742 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415742 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795728 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795728 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210616 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210616 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785427700.70267153 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340291 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340291 ms (missed cycles : 5).[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 ×2 + 3.61sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 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 ×4 + 3.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785427701.36880708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785427701.42900252 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727854 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727854 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785427702.19627142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.58sINFOros2_control_node[2026-07-30 16:08:22.337] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-07-30 16:08:22.337] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688053 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688053 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001512 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001512 ms (missed cycles : 3).[0m ×2 + 6.59sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785427704.34553695 seconds ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_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 4.539608 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539608 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_node[2026-07-30 16:10:17.419] [info] Received new action goal ×2 + 0.31sINFOros2_control_node[2026-07-30 16:10:17.419] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823287 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823287 ms (missed cycles : 2).[0m ×2 + 1.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.95sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.96sINFOros2_control_node[2026-07-30 16:10:19.068] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-07-30 16:10:19.068] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792196 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792196 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332489 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332489 ms (missed cycles : 5).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785427820.34520841 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 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 + 3.96sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 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 ×2 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785427821.09968424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683701 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683701 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-07-30 16:10:21.286] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-07-30 16:10:21.286] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346868 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346868 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265550 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265550 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 24 warnings · 81 info |
+ 0.00sINFOobjective_server_node[2026-07-30 16:08:26.744] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316123 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316123 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_node[0;93m2026-07-30 16:08:27.348517745 [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 + 0.60sINFOobjective_server_node[0;93m2026-07-30 16:08:27.348554668 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.74sINFOobjective_server_node[2026-07-30 16:08:27.481] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.14sINFOobjective_server_node[0;93m2026-07-30 16:08:27.884084126 [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 + 1.14sINFOobjective_server_node[0;93m2026-07-30 16:08:27.884124239 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.23sINFOobjective_server_node[2026-07-30 16:08:27.969] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.27sINFOobjective_server_node[0;93m2026-07-30 16:08:28.006852628 [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 + 1.27sINFOobjective_server_node[0;93m2026-07-30 16:08:28.010044272 [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 + 1.27sINFOobjective_server_node[0;93m2026-07-30 16:08:28.010079495 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.28sINFOobjective_server_node[2026-07-30 16:08:28.028] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863286 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863286 ms (missed cycles : 2).[0m ×2 + 1.56sINFOobjective_server_node[0;93m2026-07-30 16:08:28.309237511 [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 + 1.59sINFOobjective_server_node[0;93m2026-07-30 16:08:28.328775495 [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 + 1.59sINFOobjective_server_node[0;93m2026-07-30 16:08:28.328837649 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036998 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036998 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785427709.77366400 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553252 ms (missed cycles : 4). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553252 ms (missed cycles : 4).[0m ×2 + 3.63sWARNobjective_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 + 3.64sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.64sINFOobjective_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 ×2 + 3.70sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785427710.44740844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.78sINFOobjective_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 + 3.79sINFOobjective_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 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOros2_control_node[2026-07-30 16:08:30.841] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-07-30 16:08:30.841] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841742 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841742 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834121 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834121 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824912 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824912 ms (missed cycles : 3).[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 8.448418 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448418 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902849 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902849 ms (missed cycles : 3).[0m ×2 + 1.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.82sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 1.82sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.83sINFOros2_control_node[2026-07-30 16:07:10.337] [info] Received new action goal ×2 + 1.83sINFOros2_control_node[2026-07-30 16:07:10.337] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576856 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576856 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_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 + 2.35sINFOros2_control_node[2026-07-30 16:07:10.853] [info] Got request to cancel active goal. ×2 + 2.35sINFOros2_control_node[2026-07-30 16:07:10.853] [info] Canceling active goal... ×2 + 2.36sERRORobjective_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: 1785427630.86946130 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 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 ×2 + 2.97sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.97sINFOobjective_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 + 2.97sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785427631.47839499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731794 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731794 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785427631.60865927 seconds ×3 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785427632.22250819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.90sINFOros2_control_node[2026-07-30 16:07:12.406] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-07-30 16:07:12.406] [info] Accepted new action goal ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762029 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762029 ms (missed cycles : 3).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641055 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641055 ms (missed cycles : 3).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.111231 ms (missed cycles : 7). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.111231 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 30 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303645 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303645 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708049 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708049 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.789663 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.789663 ms (missed cycles : 5).[0m ×2 + 2.75sINFOobjective_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 + 2.76sERRORobjective_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: 1785427852.85020375 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802186 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802186 ms (missed cycles : 2).[0m ×2 + 3.36sWARNobjective_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 + 3.36sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.36sINFOobjective_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 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785427853.45310378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.53sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785427853.63324428 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328241 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328241 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785427854.23276401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_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 + 4.17sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785427854.25505686 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785427854.92877531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.94sINFOros2_control_node[2026-07-30 16:10:55.034] [info] Received new action goal ×2 + 4.94sINFOros2_control_node[2026-07-30 16:10:55.034] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028051 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028051 ms (missed cycles : 5).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839168 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839168 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 1.708049 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708049 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.789663 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.789663 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_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 + 1.74sERRORobjective_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: 1785427852.85020375 seconds ×3 + 1.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.75sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802186 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802186 ms (missed cycles : 2).[0m ×2 + 2.34sWARNobjective_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 + 2.34sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.34sINFOobjective_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 + 2.34sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785427853.45310378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785427853.63324428 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328241 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328241 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785427854.23276401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_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 + 3.15sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785427854.25505686 seconds ×3 + 3.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785427854.92877531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.92sINFOros2_control_node[2026-07-30 16:10:55.034] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-07-30 16:10:55.034] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028051 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028051 ms (missed cycles : 5).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839168 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839168 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.487886 ms (missed cycles : 6). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.487886 ms (missed cycles : 6).[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 1.708049 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708049 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.789663 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.789663 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_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 + 1.74sERRORobjective_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: 1785427852.85020375 seconds ×3 + 1.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.75sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802186 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802186 ms (missed cycles : 2).[0m ×2 + 2.34sWARNobjective_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 + 2.34sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.34sINFOobjective_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 + 2.34sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785427853.45310378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785427853.63324428 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328241 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328241 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785427854.23276401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_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 + 3.15sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785427854.25505686 seconds ×3 + 3.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785427854.92877531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.92sINFOros2_control_node[2026-07-30 16:10:55.034] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-07-30 16:10:55.034] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028051 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028051 ms (missed cycles : 5).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839168 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839168 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.487886 ms (missed cycles : 6). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.487886 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 33 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339860 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339860 ms (missed cycles : 4).[0m ×2 + 0.69sINFOobjective_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 + 0.69sINFOros2_control_node[2026-07-30 16:11:05.352] [info] Got request to cancel active goal. ×2 + 0.69sINFOros2_control_node[2026-07-30 16:11:05.352] [info] Canceling active goal... ×2 + 0.70sERRORobjective_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: 1785427865.35779953 seconds ×3 + 0.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242540 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242540 ms (missed cycles : 4).[0m ×2 + 1.29sWARNobjective_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 + 1.29sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.29sINFOobjective_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 + 1.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785427865.95457149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705084 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705084 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785427867.26470876 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.563982 ms (missed cycles : 6). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.563982 ms (missed cycles : 6).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785427867.85388398 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: 1785427867.85968947 seconds ×3 + 3.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785427868.59145927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785427868.59196305 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882805 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882805 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785427869.17107606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213836 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213836 ms (missed cycles : 2).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785427870.32121062 seconds ×3 + 5.70sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×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 8.448418 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448418 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902849 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902849 ms (missed cycles : 3).[0m ×2 + 1.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.82sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 1.82sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.83sINFOros2_control_node[2026-07-30 16:07:10.337] [info] Received new action goal ×2 + 1.83sINFOros2_control_node[2026-07-30 16:07:10.337] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576856 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576856 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_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 + 2.35sINFOros2_control_node[2026-07-30 16:07:10.853] [info] Got request to cancel active goal. ×2 + 2.35sINFOros2_control_node[2026-07-30 16:07:10.853] [info] Canceling active goal... ×2 + 2.36sERRORobjective_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: 1785427630.86946130 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 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 ×2 + 2.97sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.97sINFOobjective_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 + 2.97sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785427631.47839499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731794 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731794 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785427631.60865927 seconds ×3 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785427632.22250819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.90sINFOros2_control_node[2026-07-30 16:07:12.406] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-07-30 16:07:12.406] [info] Accepted new action goal ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762029 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762029 ms (missed cycles : 3).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641055 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641055 ms (missed cycles : 3).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.111231 ms (missed cycles : 7). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.111231 ms (missed cycles : 7).[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 8.448418 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448418 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902849 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902849 ms (missed cycles : 3).[0m ×2 + 1.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.82sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 1.82sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.83sINFOros2_control_node[2026-07-30 16:07:10.337] [info] Received new action goal ×2 + 1.83sINFOros2_control_node[2026-07-30 16:07:10.337] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576856 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576856 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_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 + 2.35sINFOros2_control_node[2026-07-30 16:07:10.853] [info] Got request to cancel active goal. ×2 + 2.35sINFOros2_control_node[2026-07-30 16:07:10.853] [info] Canceling active goal... ×2 + 2.36sERRORobjective_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: 1785427630.86946130 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 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 ×2 + 2.97sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.97sINFOobjective_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 + 2.97sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785427631.47839499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731794 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731794 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785427631.60865927 seconds ×3 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785427632.22250819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.90sINFOros2_control_node[2026-07-30 16:07:12.406] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-07-30 16:07:12.406] [info] Accepted new action goal ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762029 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762029 ms (missed cycles : 3).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641055 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641055 ms (missed cycles : 3).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.111231 ms (missed cycles : 7). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.111231 ms (missed cycles : 7).[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 8.448418 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448418 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902849 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902849 ms (missed cycles : 3).[0m ×2 + 1.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.82sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 1.82sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.83sINFOros2_control_node[2026-07-30 16:07:10.337] [info] Received new action goal ×2 + 1.83sINFOros2_control_node[2026-07-30 16:07:10.337] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576856 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576856 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_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 + 2.35sINFOros2_control_node[2026-07-30 16:07:10.853] [info] Got request to cancel active goal. ×2 + 2.35sINFOros2_control_node[2026-07-30 16:07:10.853] [info] Canceling active goal... ×2 + 2.36sERRORobjective_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: 1785427630.86946130 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 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 ×2 + 2.97sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.97sINFOobjective_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 + 2.97sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785427631.47839499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731794 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731794 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785427631.60865927 seconds ×3 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785427632.22250819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.90sINFOros2_control_node[2026-07-30 16:07:12.406] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-07-30 16:07:12.406] [info] Accepted new action goal ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762029 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762029 ms (missed cycles : 3).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641055 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641055 ms (missed cycles : 3).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.111231 ms (missed cycles : 7). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.111231 ms (missed cycles : 7).[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 8.448418 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448418 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902849 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902849 ms (missed cycles : 3).[0m ×2 + 1.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.82sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 1.82sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.83sINFOros2_control_node[2026-07-30 16:07:10.337] [info] Received new action goal ×2 + 1.83sINFOros2_control_node[2026-07-30 16:07:10.337] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576856 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576856 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_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 + 2.35sINFOros2_control_node[2026-07-30 16:07:10.853] [info] Got request to cancel active goal. ×2 + 2.35sINFOros2_control_node[2026-07-30 16:07:10.853] [info] Canceling active goal... ×2 + 2.36sERRORobjective_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: 1785427630.86946130 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 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 ×2 + 2.97sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.97sINFOobjective_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 + 2.97sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785427631.47839499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731794 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731794 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785427631.60865927 seconds ×3 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785427632.22250819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.90sINFOros2_control_node[2026-07-30 16:07:12.406] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-07-30 16:07:12.406] [info] Accepted new action goal ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762029 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762029 ms (missed cycles : 3).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641055 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641055 ms (missed cycles : 3).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.111231 ms (missed cycles : 7). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.111231 ms (missed cycles : 7).[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 8.448418 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448418 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902849 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902849 ms (missed cycles : 3).[0m ×2 + 1.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.82sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 1.82sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.83sINFOros2_control_node[2026-07-30 16:07:10.337] [info] Received new action goal ×2 + 1.83sINFOros2_control_node[2026-07-30 16:07:10.337] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576856 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576856 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_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 + 2.35sINFOros2_control_node[2026-07-30 16:07:10.853] [info] Got request to cancel active goal. ×2 + 2.35sINFOros2_control_node[2026-07-30 16:07:10.853] [info] Canceling active goal... ×2 + 2.36sERRORobjective_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: 1785427630.86946130 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 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 ×2 + 2.97sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.97sINFOobjective_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 + 2.97sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785427631.47839499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731794 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731794 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785427631.60865927 seconds ×3 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785427632.22250819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.90sINFOros2_control_node[2026-07-30 16:07:12.406] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-07-30 16:07:12.406] [info] Accepted new action goal ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762029 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762029 ms (missed cycles : 3).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641055 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641055 ms (missed cycles : 3).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.111231 ms (missed cycles : 7). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.111231 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 27 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.625074 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.625074 ms (missed cycles : 4).[0m ×2 + 0.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.53sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.53sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.54sINFOros2_control_node[2026-07-30 16:07:33.775] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-07-30 16:07:33.775] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576580 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576580 ms (missed cycles : 3).[0m ×2 + 1.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785427655.06267881 seconds ×3 + 1.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.405867 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.405867 ms (missed cycles : 6).[0m ×2 + 2.41sWARNobjective_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 + 2.41sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.41sINFOobjective_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 + 2.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785427655.68341756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785427655.76355600 seconds ×3 + 3.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785427656.39732003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576897 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576897 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.26sINFOros2_control_node[2026-07-30 16:07:36.501] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-07-30 16:07:36.501] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080178 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080178 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861840 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861840 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 27 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.625074 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.625074 ms (missed cycles : 4).[0m ×2 + 0.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.53sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.53sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.54sINFOros2_control_node[2026-07-30 16:07:33.775] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-07-30 16:07:33.775] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576580 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576580 ms (missed cycles : 3).[0m ×2 + 1.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785427655.06267881 seconds ×3 + 1.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.405867 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.405867 ms (missed cycles : 6).[0m ×2 + 2.41sWARNobjective_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 + 2.41sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.41sINFOobjective_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 + 2.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785427655.68341756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785427655.76355600 seconds ×3 + 3.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785427656.39732003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576897 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576897 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.26sINFOros2_control_node[2026-07-30 16:07:36.501] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-07-30 16:07:36.501] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080178 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080178 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861840 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861840 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 27 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.625074 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.625074 ms (missed cycles : 4).[0m ×2 + 0.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.53sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.53sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.54sINFOros2_control_node[2026-07-30 16:07:33.775] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-07-30 16:07:33.775] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576580 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576580 ms (missed cycles : 3).[0m ×2 + 1.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785427655.06267881 seconds ×3 + 1.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.405867 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.405867 ms (missed cycles : 6).[0m ×2 + 2.41sWARNobjective_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 + 2.41sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.41sINFOobjective_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 + 2.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785427655.68341756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785427655.76355600 seconds ×3 + 3.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785427656.39732003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576897 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576897 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.26sINFOros2_control_node[2026-07-30 16:07:36.501] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-07-30 16:07:36.501] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080178 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080178 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861840 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861840 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 27 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.625074 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.625074 ms (missed cycles : 4).[0m ×2 + 0.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.53sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.53sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.54sINFOros2_control_node[2026-07-30 16:07:33.775] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-07-30 16:07:33.775] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576580 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576580 ms (missed cycles : 3).[0m ×2 + 1.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785427655.06267881 seconds ×3 + 1.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.405867 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.405867 ms (missed cycles : 6).[0m ×2 + 2.41sWARNobjective_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 + 2.41sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.41sINFOobjective_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 + 2.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785427655.68341756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785427655.76355600 seconds ×3 + 3.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785427656.39732003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576897 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576897 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.26sINFOros2_control_node[2026-07-30 16:07:36.501] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-07-30 16:07:36.501] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080178 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080178 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861840 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861840 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 24 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718242 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718242 ms (missed cycles : 2).[0m ×2 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.79sINFOros2_control_node[2026-07-30 16:07:44.519] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-07-30 16:07:44.519] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723596 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723596 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946909 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946909 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.105676 ms (missed cycles : 7). + 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 16:07:46.849] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-07-30 16:07:46.849] [info] Accepted new action goal ×2 + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.105676 ms (missed cycles : 7).[0m ×2 + 3.13sINFOros2_control_node[2026-07-30 16:07:46.861] [info] Got request to cancel active goal. ×2 + 3.14sINFOros2_control_node[2026-07-30 16:07:46.861] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1785427666.87043214 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785427667.54023743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.00sINFOros2_control_node[2026-07-30 16:07:47.723] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-07-30 16:07:47.723] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731278 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731278 ms (missed cycles : 2).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182709 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182709 ms (missed cycles : 4).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395405 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395405 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 24 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718242 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718242 ms (missed cycles : 2).[0m ×2 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.79sINFOros2_control_node[2026-07-30 16:07:44.519] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-07-30 16:07:44.519] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723596 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723596 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946909 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946909 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.105676 ms (missed cycles : 7). + 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 16:07:46.849] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-07-30 16:07:46.849] [info] Accepted new action goal ×2 + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.105676 ms (missed cycles : 7).[0m ×2 + 3.13sINFOros2_control_node[2026-07-30 16:07:46.861] [info] Got request to cancel active goal. ×2 + 3.14sINFOros2_control_node[2026-07-30 16:07:46.861] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1785427666.87043214 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785427667.54023743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.00sINFOros2_control_node[2026-07-30 16:07:47.723] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-07-30 16:07:47.723] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731278 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731278 ms (missed cycles : 2).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182709 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182709 ms (missed cycles : 4).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395405 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395405 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 24 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718242 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718242 ms (missed cycles : 2).[0m ×2 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.79sINFOros2_control_node[2026-07-30 16:07:44.519] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-07-30 16:07:44.519] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723596 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723596 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946909 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946909 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.105676 ms (missed cycles : 7). + 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 16:07:46.849] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-07-30 16:07:46.849] [info] Accepted new action goal ×2 + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.105676 ms (missed cycles : 7).[0m ×2 + 3.13sINFOros2_control_node[2026-07-30 16:07:46.861] [info] Got request to cancel active goal. ×2 + 3.14sINFOros2_control_node[2026-07-30 16:07:46.861] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1785427666.87043214 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785427667.54023743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.00sINFOros2_control_node[2026-07-30 16:07:47.723] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-07-30 16:07:47.723] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731278 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731278 ms (missed cycles : 2).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182709 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182709 ms (missed cycles : 4).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395405 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395405 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 24 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718242 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718242 ms (missed cycles : 2).[0m ×2 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.79sINFOros2_control_node[2026-07-30 16:07:44.519] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-07-30 16:07:44.519] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723596 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723596 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946909 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946909 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.105676 ms (missed cycles : 7). + 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 16:07:46.849] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-07-30 16:07:46.849] [info] Accepted new action goal ×2 + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.105676 ms (missed cycles : 7).[0m ×2 + 3.13sINFOros2_control_node[2026-07-30 16:07:46.861] [info] Got request to cancel active goal. ×2 + 3.14sINFOros2_control_node[2026-07-30 16:07:46.861] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1785427666.87043214 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785427667.54023743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.00sINFOros2_control_node[2026-07-30 16:07:47.723] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-07-30 16:07:47.723] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731278 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731278 ms (missed cycles : 2).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182709 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182709 ms (missed cycles : 4).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395405 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395405 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 24 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718242 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718242 ms (missed cycles : 2).[0m ×2 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.79sINFOros2_control_node[2026-07-30 16:07:44.519] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-07-30 16:07:44.519] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723596 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723596 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946909 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946909 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.105676 ms (missed cycles : 7). + 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 16:07:46.849] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-07-30 16:07:46.849] [info] Accepted new action goal ×2 + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.105676 ms (missed cycles : 7).[0m ×2 + 3.13sINFOros2_control_node[2026-07-30 16:07:46.861] [info] Got request to cancel active goal. ×2 + 3.14sINFOros2_control_node[2026-07-30 16:07:46.861] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1785427666.87043214 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785427667.54023743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.00sINFOros2_control_node[2026-07-30 16:07:47.723] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-07-30 16:07:47.723] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731278 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731278 ms (missed cycles : 2).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182709 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182709 ms (missed cycles : 4).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395405 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395405 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 24 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718242 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718242 ms (missed cycles : 2).[0m ×2 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.79sINFOros2_control_node[2026-07-30 16:07:44.519] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-07-30 16:07:44.519] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723596 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723596 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946909 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946909 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.105676 ms (missed cycles : 7). + 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 16:07:46.849] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-07-30 16:07:46.849] [info] Accepted new action goal ×2 + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.105676 ms (missed cycles : 7).[0m ×2 + 3.13sINFOros2_control_node[2026-07-30 16:07:46.861] [info] Got request to cancel active goal. ×2 + 3.14sINFOros2_control_node[2026-07-30 16:07:46.861] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1785427666.87043214 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785427667.54023743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.00sINFOros2_control_node[2026-07-30 16:07:47.723] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-07-30 16:07:47.723] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731278 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731278 ms (missed cycles : 2).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182709 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182709 ms (missed cycles : 4).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395405 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395405 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 24 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718242 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718242 ms (missed cycles : 2).[0m ×2 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.79sINFOros2_control_node[2026-07-30 16:07:44.519] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-07-30 16:07:44.519] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723596 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723596 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946909 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946909 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.105676 ms (missed cycles : 7). + 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 16:07:46.849] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-07-30 16:07:46.849] [info] Accepted new action goal ×2 + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.105676 ms (missed cycles : 7).[0m ×2 + 3.13sINFOros2_control_node[2026-07-30 16:07:46.861] [info] Got request to cancel active goal. ×2 + 3.14sINFOros2_control_node[2026-07-30 16:07:46.861] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1785427666.87043214 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785427667.54023743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.00sINFOros2_control_node[2026-07-30 16:07:47.723] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-07-30 16:07:47.723] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731278 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731278 ms (missed cycles : 2).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182709 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182709 ms (missed cycles : 4).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395405 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395405 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 24 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718242 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718242 ms (missed cycles : 2).[0m ×2 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.79sINFOros2_control_node[2026-07-30 16:07:44.519] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-07-30 16:07:44.519] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723596 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723596 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946909 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946909 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.105676 ms (missed cycles : 7). + 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 16:07:46.849] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-07-30 16:07:46.849] [info] Accepted new action goal ×2 + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.105676 ms (missed cycles : 7).[0m ×2 + 3.13sINFOros2_control_node[2026-07-30 16:07:46.861] [info] Got request to cancel active goal. ×2 + 3.14sINFOros2_control_node[2026-07-30 16:07:46.861] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1785427666.87043214 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785427667.54023743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.00sINFOros2_control_node[2026-07-30 16:07:47.723] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-07-30 16:07:47.723] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731278 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731278 ms (missed cycles : 2).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182709 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182709 ms (missed cycles : 4).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395405 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395405 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 24 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718242 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718242 ms (missed cycles : 2).[0m ×2 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.79sINFOros2_control_node[2026-07-30 16:07:44.519] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-07-30 16:07:44.519] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723596 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723596 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946909 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946909 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.105676 ms (missed cycles : 7). + 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 16:07:46.849] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-07-30 16:07:46.849] [info] Accepted new action goal ×2 + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.105676 ms (missed cycles : 7).[0m ×2 + 3.13sINFOros2_control_node[2026-07-30 16:07:46.861] [info] Got request to cancel active goal. ×2 + 3.14sINFOros2_control_node[2026-07-30 16:07:46.861] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1785427666.87043214 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785427667.54023743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.00sINFOros2_control_node[2026-07-30 16:07:47.723] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-07-30 16:07:47.723] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731278 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731278 ms (missed cycles : 2).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182709 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182709 ms (missed cycles : 4).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395405 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395405 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 24 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718242 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718242 ms (missed cycles : 2).[0m ×2 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.79sINFOros2_control_node[2026-07-30 16:07:44.519] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-07-30 16:07:44.519] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723596 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723596 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946909 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946909 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.105676 ms (missed cycles : 7). + 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 16:07:46.849] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-07-30 16:07:46.849] [info] Accepted new action goal ×2 + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.105676 ms (missed cycles : 7).[0m ×2 + 3.13sINFOros2_control_node[2026-07-30 16:07:46.861] [info] Got request to cancel active goal. ×2 + 3.14sINFOros2_control_node[2026-07-30 16:07:46.861] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1785427666.87043214 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785427667.54023743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.00sINFOros2_control_node[2026-07-30 16:07:47.723] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-07-30 16:07:47.723] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731278 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731278 ms (missed cycles : 2).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182709 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182709 ms (missed cycles : 4).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395405 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395405 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 24 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718242 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718242 ms (missed cycles : 2).[0m ×2 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.79sINFOros2_control_node[2026-07-30 16:07:44.519] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-07-30 16:07:44.519] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723596 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723596 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946909 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946909 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.105676 ms (missed cycles : 7). + 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 16:07:46.849] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-07-30 16:07:46.849] [info] Accepted new action goal ×2 + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.105676 ms (missed cycles : 7).[0m ×2 + 3.13sINFOros2_control_node[2026-07-30 16:07:46.861] [info] Got request to cancel active goal. ×2 + 3.14sINFOros2_control_node[2026-07-30 16:07:46.861] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1785427666.87043214 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785427667.54023743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.00sINFOros2_control_node[2026-07-30 16:07:47.723] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-07-30 16:07:47.723] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731278 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731278 ms (missed cycles : 2).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182709 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182709 ms (missed cycles : 4).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395405 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395405 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 24 warnings · 89 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (6.01e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (5.31e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 0.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.07sINFOobjective_server_nodeFound path in 5 iterations (0.00471916 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 0.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOros2_control_node[2026-07-30 16:08:06.138] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-07-30 16:08:06.138] [info] Accepted new action goal ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156203 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156203 ms (missed cycles : 2).[0m ×2 + 0.57sINFOros2_control_node[2026-07-30 16:08:06.530] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-07-30 16:08:06.530] [info] Accepted new action goal ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.415004 ms (missed cycles : 6). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.415004 ms (missed cycles : 6).[0m ×2 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715627 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715627 ms (missed cycles : 2).[0m ×2 + 2.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 2.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.97sINFOros2_control_node[2026-07-30 16:08:08.936] [info] Received new action goal ×2 + 2.98sINFOros2_control_node[2026-07-30 16:08:08.936] [info] Accepted new action goal ×2 + 2.99sINFOobjective_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 + 2.99sINFOros2_control_node[2026-07-30 16:08:08.953] [info] Got request to cancel active goal. ×2 + 2.99sINFOros2_control_node[2026-07-30 16:08:08.953] [info] Canceling active goal... ×2 + 3.00sERRORobjective_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: 1785427688.95973158 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sWARNobjective_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 + 3.58sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.58sINFOobjective_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 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404027 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404027 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1785427689.61426449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-07-30 16:08:09.757] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-07-30 16:08:09.757] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269165 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269165 ms (missed cycles : 3).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985624 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985624 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2_control_node[2026-07-30 16:08:12.141] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-07-30 16:08:12.141] [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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727854 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727854 ms (missed cycles : 2).[0m ×2 + 0.33sWARNobjective_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 + 0.33sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 0.33sINFOobjective_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 + 0.33sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785427702.19627142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.44sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 0.44sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.47sINFOros2_control_node[2026-07-30 16:08:22.337] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-07-30 16:08:22.337] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688053 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688053 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001512 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001512 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785427704.34553695 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127020 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127020 ms (missed cycles : 2).[0m ×2 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785427705.93419600 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 3.659816 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659816 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_node[2026-07-30 16:08:26.744] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316123 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316123 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_node[0;93m2026-07-30 16:08:27.348517745 [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 + 5.48sINFOobjective_server_node[0;93m2026-07-30 16:08:27.348554668 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.62sINFOobjective_server_node[2026-07-30 16:08:27.481] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.02sINFOobjective_server_node[0;93m2026-07-30 16:08:27.884084126 [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 + 6.02sINFOobjective_server_node[0;93m2026-07-30 16:08:27.884124239 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.10sINFOobjective_server_node[2026-07-30 16:08:27.969] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.15sINFOobjective_server_node[0;93m2026-07-30 16:08:28.006852628 [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 + 6.15sINFOobjective_server_node[0;93m2026-07-30 16:08:28.010044272 [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 + 6.15sINFOobjective_server_node[0;93m2026-07-30 16:08:28.010079495 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.16sINFOobjective_server_node[2026-07-30 16:08:28.028] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863286 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863286 ms (missed cycles : 2).[0m ×2 + 6.44sINFOobjective_server_node[0;93m2026-07-30 16:08:28.309237511 [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 + 6.47sINFOobjective_server_node[0;93m2026-07-30 16:08:28.328775495 [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 + 6.47sINFOobjective_server_node[0;93m2026-07-30 16:08:28.328837649 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 24 warnings · 81 info |
+ 0.00sINFOobjective_server_node[2026-07-30 16:08:26.744] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316123 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316123 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_node[0;93m2026-07-30 16:08:27.348517745 [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 + 0.60sINFOobjective_server_node[0;93m2026-07-30 16:08:27.348554668 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.74sINFOobjective_server_node[2026-07-30 16:08:27.481] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.14sINFOobjective_server_node[0;93m2026-07-30 16:08:27.884084126 [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 + 1.14sINFOobjective_server_node[0;93m2026-07-30 16:08:27.884124239 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.23sINFOobjective_server_node[2026-07-30 16:08:27.969] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.27sINFOobjective_server_node[0;93m2026-07-30 16:08:28.006852628 [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 + 1.27sINFOobjective_server_node[0;93m2026-07-30 16:08:28.010044272 [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 + 1.27sINFOobjective_server_node[0;93m2026-07-30 16:08:28.010079495 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.28sINFOobjective_server_node[2026-07-30 16:08:28.028] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863286 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863286 ms (missed cycles : 2).[0m ×2 + 1.56sINFOobjective_server_node[0;93m2026-07-30 16:08:28.309237511 [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 + 1.59sINFOobjective_server_node[0;93m2026-07-30 16:08:28.328775495 [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 + 1.59sINFOobjective_server_node[0;93m2026-07-30 16:08:28.328837649 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036998 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036998 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785427709.77366400 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553252 ms (missed cycles : 4). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553252 ms (missed cycles : 4).[0m ×2 + 3.63sWARNobjective_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 + 3.64sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.64sINFOobjective_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 ×2 + 3.70sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785427710.44740844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.78sINFOobjective_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 + 3.79sINFOobjective_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 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOros2_control_node[2026-07-30 16:08:30.841] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-07-30 16:08:30.841] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841742 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841742 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834121 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834121 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824912 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824912 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 24 warnings · 81 info |
+ 0.00sINFOobjective_server_node[2026-07-30 16:08:26.744] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316123 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316123 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_node[0;93m2026-07-30 16:08:27.348517745 [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 + 0.60sINFOobjective_server_node[0;93m2026-07-30 16:08:27.348554668 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.74sINFOobjective_server_node[2026-07-30 16:08:27.481] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.14sINFOobjective_server_node[0;93m2026-07-30 16:08:27.884084126 [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 + 1.14sINFOobjective_server_node[0;93m2026-07-30 16:08:27.884124239 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.23sINFOobjective_server_node[2026-07-30 16:08:27.969] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.27sINFOobjective_server_node[0;93m2026-07-30 16:08:28.006852628 [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 + 1.27sINFOobjective_server_node[0;93m2026-07-30 16:08:28.010044272 [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 + 1.27sINFOobjective_server_node[0;93m2026-07-30 16:08:28.010079495 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.28sINFOobjective_server_node[2026-07-30 16:08:28.028] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863286 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863286 ms (missed cycles : 2).[0m ×2 + 1.56sINFOobjective_server_node[0;93m2026-07-30 16:08:28.309237511 [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 + 1.59sINFOobjective_server_node[0;93m2026-07-30 16:08:28.328775495 [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 + 1.59sINFOobjective_server_node[0;93m2026-07-30 16:08:28.328837649 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036998 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036998 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785427709.77366400 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553252 ms (missed cycles : 4). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553252 ms (missed cycles : 4).[0m ×2 + 3.63sWARNobjective_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 + 3.64sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.64sINFOobjective_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 ×2 + 3.70sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785427710.44740844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.78sINFOobjective_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 + 3.79sINFOobjective_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 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOros2_control_node[2026-07-30 16:08:30.841] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-07-30 16:08:30.841] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841742 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841742 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834121 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834121 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824912 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824912 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 24 warnings · 81 info |
+ 0.00sINFOobjective_server_node[2026-07-30 16:08:26.744] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316123 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316123 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_node[0;93m2026-07-30 16:08:27.348517745 [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 + 0.60sINFOobjective_server_node[0;93m2026-07-30 16:08:27.348554668 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.74sINFOobjective_server_node[2026-07-30 16:08:27.481] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.14sINFOobjective_server_node[0;93m2026-07-30 16:08:27.884084126 [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 + 1.14sINFOobjective_server_node[0;93m2026-07-30 16:08:27.884124239 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.23sINFOobjective_server_node[2026-07-30 16:08:27.969] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.27sINFOobjective_server_node[0;93m2026-07-30 16:08:28.006852628 [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 + 1.27sINFOobjective_server_node[0;93m2026-07-30 16:08:28.010044272 [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 + 1.27sINFOobjective_server_node[0;93m2026-07-30 16:08:28.010079495 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.28sINFOobjective_server_node[2026-07-30 16:08:28.028] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863286 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863286 ms (missed cycles : 2).[0m ×2 + 1.56sINFOobjective_server_node[0;93m2026-07-30 16:08:28.309237511 [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 + 1.59sINFOobjective_server_node[0;93m2026-07-30 16:08:28.328775495 [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 + 1.59sINFOobjective_server_node[0;93m2026-07-30 16:08:28.328837649 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036998 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036998 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785427709.77366400 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553252 ms (missed cycles : 4). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553252 ms (missed cycles : 4).[0m ×2 + 3.63sWARNobjective_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 + 3.64sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.64sINFOobjective_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 ×2 + 3.70sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785427710.44740844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.78sINFOobjective_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 + 3.79sINFOobjective_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 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOros2_control_node[2026-07-30 16:08:30.841] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-07-30 16:08:30.841] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841742 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841742 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834121 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834121 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824912 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824912 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 24 warnings · 81 info |
+ 0.00sINFOobjective_server_node[2026-07-30 16:08:26.744] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316123 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316123 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_node[0;93m2026-07-30 16:08:27.348517745 [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 + 0.60sINFOobjective_server_node[0;93m2026-07-30 16:08:27.348554668 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.74sINFOobjective_server_node[2026-07-30 16:08:27.481] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.14sINFOobjective_server_node[0;93m2026-07-30 16:08:27.884084126 [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 + 1.14sINFOobjective_server_node[0;93m2026-07-30 16:08:27.884124239 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.23sINFOobjective_server_node[2026-07-30 16:08:27.969] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.27sINFOobjective_server_node[0;93m2026-07-30 16:08:28.006852628 [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 + 1.27sINFOobjective_server_node[0;93m2026-07-30 16:08:28.010044272 [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 + 1.27sINFOobjective_server_node[0;93m2026-07-30 16:08:28.010079495 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.28sINFOobjective_server_node[2026-07-30 16:08:28.028] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863286 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863286 ms (missed cycles : 2).[0m ×2 + 1.56sINFOobjective_server_node[0;93m2026-07-30 16:08:28.309237511 [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 + 1.59sINFOobjective_server_node[0;93m2026-07-30 16:08:28.328775495 [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 + 1.59sINFOobjective_server_node[0;93m2026-07-30 16:08:28.328837649 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036998 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036998 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785427709.77366400 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553252 ms (missed cycles : 4). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553252 ms (missed cycles : 4).[0m ×2 + 3.63sWARNobjective_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 + 3.64sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.64sINFOobjective_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 ×2 + 3.70sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785427710.44740844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.78sINFOobjective_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 + 3.79sINFOobjective_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 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOros2_control_node[2026-07-30 16:08:30.841] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-07-30 16:08:30.841] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841742 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841742 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834121 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834121 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824912 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824912 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 6.734196 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.734196 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460639 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460639 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623054 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623054 ms (missed cycles : 4).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785427764.59271765 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105344 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105344 ms (missed cycles : 2).[0m ×2 + 3.60sWARNobjective_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 + 3.60sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.60sINFOobjective_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 + 3.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785427765.22829437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.78sINFOros2_control_node[2026-07-30 16:09:25.401] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-07-30 16:09:25.401] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416363 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416363 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_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 + 5.13sINFOobjective_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 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111098 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111098 ms (missed cycles : 2).[0m ×2 + 5.40sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×18 + 5.41sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561322 ms (missed cycles : 5). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561322 ms (missed cycles : 5).[0m ×2 + 6.40sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785427768.02182841 seconds ×3 + 6.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.42sINFOros2_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 · 27 warnings · 169 info |
+ 0.00sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 0.01sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561322 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561322 ms (missed cycles : 5).[0m ×2 + 1.00sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785427768.02182841 seconds ×3 + 1.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.01sINFOcontroller_managerSuccessfully switched controllers! ×7 + 1.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 1.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.58sWARNobjective_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 + 1.58sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 1.58sINFOobjective_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 + 1.62sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785427768.63541412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_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 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.76sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 1.76sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 1.78sINFOros2_control_node[2026-07-30 16:09:28.793] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-07-30 16:09:28.793] [info] Accepted new action goal ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043404 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043404 ms (missed cycles : 4).[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752734 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752734 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_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 + 3.10sINFOobjective_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 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785427770.33775806 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548136 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548136 ms (missed cycles : 2).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785427770.95865107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.12sINFOros2_control_node[2026-07-30 16:09:31.143] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-07-30 16:09:31.143] [info] Accepted new action goal ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096356 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096356 ms (missed cycles : 2).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685311 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685311 ms (missed cycles : 2).[0m ×2 + 6.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 3 errors · 23 warnings · 83 info |
+ 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.359657 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.011916 ms (missed cycles : 6). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.011916 ms (missed cycles : 6).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102724 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102724 ms (missed cycles : 4).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871378 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871378 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_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 + 3.29sINFOobjective_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 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.53sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 3.53sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1785427780.45689583 seconds ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803320 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803320 ms (missed cycles : 2).[0m ×2 + 4.19sWARNobjective_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 + 4.19sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.19sINFOobjective_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 + 4.26sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1785427781.19051504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 5 iterations (0.00434613 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.50sINFOros2_control_node[2026-07-30 16:09:41.426] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-07-30 16:09:41.426] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.365110 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.365110 ms (missed cycles : 6).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.977648 ms (missed cycles : 6). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.977648 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 24 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704994 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704994 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824287 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824287 ms (missed cycles : 2).[0m ×2 + 1.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.882175 ms (missed cycles : 5). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.882175 ms (missed cycles : 5).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785427809.63069415 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.386793 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.386793 ms (missed cycles : 6).[0m ×2 + 3.35sWARNobjective_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 + 3.35sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.36sINFOobjective_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 + 3.47sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785427810.32502341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.71sINFOros2_control_node[2026-07-30 16:10:10.568] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-07-30 16:10:10.568] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350082 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350082 ms (missed cycles : 3).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680735 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680735 ms (missed cycles : 2).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818991 ms (missed cycles : 2). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818991 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 24 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704994 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704994 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824287 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824287 ms (missed cycles : 2).[0m ×2 + 1.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.882175 ms (missed cycles : 5). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.882175 ms (missed cycles : 5).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785427809.63069415 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.386793 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.386793 ms (missed cycles : 6).[0m ×2 + 3.35sWARNobjective_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 + 3.35sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.36sINFOobjective_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 + 3.47sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785427810.32502341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.71sINFOros2_control_node[2026-07-30 16:10:10.568] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-07-30 16:10:10.568] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350082 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350082 ms (missed cycles : 3).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680735 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680735 ms (missed cycles : 2).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818991 ms (missed cycles : 2). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818991 ms (missed cycles : 2).[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 4.539608 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539608 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_node[2026-07-30 16:10:17.419] [info] Received new action goal ×2 + 0.31sINFOros2_control_node[2026-07-30 16:10:17.419] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823287 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823287 ms (missed cycles : 2).[0m ×2 + 1.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.95sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.96sINFOros2_control_node[2026-07-30 16:10:19.068] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-07-30 16:10:19.068] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792196 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792196 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332489 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332489 ms (missed cycles : 5).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785427820.34520841 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 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 + 3.96sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 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 ×2 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785427821.09968424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683701 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683701 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-07-30 16:10:21.286] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-07-30 16:10:21.286] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346868 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346868 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265550 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265550 ms (missed cycles : 2).[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 4.539608 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539608 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_node[2026-07-30 16:10:17.419] [info] Received new action goal ×2 + 0.31sINFOros2_control_node[2026-07-30 16:10:17.419] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823287 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823287 ms (missed cycles : 2).[0m ×2 + 1.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.95sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.96sINFOros2_control_node[2026-07-30 16:10:19.068] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-07-30 16:10:19.068] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792196 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792196 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332489 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332489 ms (missed cycles : 5).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785427820.34520841 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 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 + 3.96sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 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 ×2 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785427821.09968424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683701 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683701 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-07-30 16:10:21.286] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-07-30 16:10:21.286] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346868 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346868 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265550 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265550 ms (missed cycles : 2).[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 4.539608 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539608 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_node[2026-07-30 16:10:17.419] [info] Received new action goal ×2 + 0.31sINFOros2_control_node[2026-07-30 16:10:17.419] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823287 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823287 ms (missed cycles : 2).[0m ×2 + 1.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.95sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.96sINFOros2_control_node[2026-07-30 16:10:19.068] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-07-30 16:10:19.068] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792196 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792196 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332489 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332489 ms (missed cycles : 5).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785427820.34520841 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 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 + 3.96sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 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 ×2 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785427821.09968424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683701 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683701 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-07-30 16:10:21.286] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-07-30 16:10:21.286] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346868 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346868 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265550 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265550 ms (missed cycles : 2).[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 4.539608 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539608 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_node[2026-07-30 16:10:17.419] [info] Received new action goal ×2 + 0.31sINFOros2_control_node[2026-07-30 16:10:17.419] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823287 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823287 ms (missed cycles : 2).[0m ×2 + 1.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.95sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.96sINFOros2_control_node[2026-07-30 16:10:19.068] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-07-30 16:10:19.068] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792196 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792196 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332489 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332489 ms (missed cycles : 5).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785427820.34520841 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 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 + 3.96sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 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 ×2 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785427821.09968424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683701 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683701 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-07-30 16:10:21.286] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-07-30 16:10:21.286] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346868 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346868 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265550 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265550 ms (missed cycles : 2).[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 4.539608 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539608 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_node[2026-07-30 16:10:17.419] [info] Received new action goal ×2 + 0.31sINFOros2_control_node[2026-07-30 16:10:17.419] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823287 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823287 ms (missed cycles : 2).[0m ×2 + 1.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.95sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.96sINFOros2_control_node[2026-07-30 16:10:19.068] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-07-30 16:10:19.068] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792196 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792196 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332489 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332489 ms (missed cycles : 5).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785427820.34520841 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 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 + 3.96sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 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 ×2 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785427821.09968424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683701 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683701 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-07-30 16:10:21.286] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-07-30 16:10:21.286] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346868 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346868 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265550 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265550 ms (missed cycles : 2).[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 4.539608 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539608 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_node[2026-07-30 16:10:17.419] [info] Received new action goal ×2 + 0.31sINFOros2_control_node[2026-07-30 16:10:17.419] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823287 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823287 ms (missed cycles : 2).[0m ×2 + 1.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.95sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.96sINFOros2_control_node[2026-07-30 16:10:19.068] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-07-30 16:10:19.068] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792196 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792196 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332489 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332489 ms (missed cycles : 5).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785427820.34520841 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 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 + 3.96sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 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 ×2 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785427821.09968424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683701 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683701 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-07-30 16:10:21.286] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-07-30 16:10:21.286] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346868 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346868 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265550 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265550 ms (missed cycles : 2).[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 4.539608 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539608 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_node[2026-07-30 16:10:17.419] [info] Received new action goal ×2 + 0.31sINFOros2_control_node[2026-07-30 16:10:17.419] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823287 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823287 ms (missed cycles : 2).[0m ×2 + 1.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.95sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.96sINFOros2_control_node[2026-07-30 16:10:19.068] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-07-30 16:10:19.068] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792196 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792196 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332489 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332489 ms (missed cycles : 5).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785427820.34520841 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 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 + 3.96sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 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 ×2 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785427821.09968424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683701 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683701 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-07-30 16:10:21.286] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-07-30 16:10:21.286] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346868 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346868 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265550 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265550 ms (missed cycles : 2).[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 4.539608 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539608 ms (missed cycles : 3).[0m ×2 + 0.31sINFOros2_control_node[2026-07-30 16:10:17.419] [info] Received new action goal ×2 + 0.31sINFOros2_control_node[2026-07-30 16:10:17.419] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823287 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823287 ms (missed cycles : 2).[0m ×2 + 1.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.95sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.96sINFOros2_control_node[2026-07-30 16:10:19.068] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-07-30 16:10:19.068] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792196 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792196 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332489 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332489 ms (missed cycles : 5).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785427820.34520841 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 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 + 3.96sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 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 ×2 + 3.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785427821.09968424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683701 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683701 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-07-30 16:10:21.286] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-07-30 16:10:21.286] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346868 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346868 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265550 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265550 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 24 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.275433 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.275433 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596198 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596198 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.622352 ms (missed cycles : 7). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.622352 ms (missed cycles : 7).[0m ×2 + 3.01sINFOobjective_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 + 3.01sERRORobjective_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: 1785427831.35008550 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.716000 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.716000 ms (missed cycles : 5).[0m ×2 + 3.59sWARNobjective_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 + 3.59sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.59sINFOobjective_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 ×2 + 3.59sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1785427831.93271327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.86sINFOros2_control_node[2026-07-30 16:10:32.193] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-07-30 16:10:32.193] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873706 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873706 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.425560 ms (missed cycles : 6). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.425560 ms (missed cycles : 6).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475174 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475174 ms (missed cycles : 4).[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 10.098230 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.098230 ms (missed cycles : 7).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060772 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060772 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357501 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357501 ms (missed cycles : 3).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1785427841.78929424 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098413 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098413 ms (missed cycles : 4).[0m ×2 + 3.75sWARNobjective_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 + 3.75sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.75sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1785427842.42990875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.91sINFOros2_control_node[2026-07-30 16:10:42.574] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-07-30 16:10:42.574] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.083445 ms (missed cycles : 8). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.083445 ms (missed cycles : 8).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343762 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343762 ms (missed cycles : 4).[0m ×2 + 5.81sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.81sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179844 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179844 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 30 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303645 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303645 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708049 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708049 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.789663 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.789663 ms (missed cycles : 5).[0m ×2 + 2.75sINFOobjective_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 + 2.76sERRORobjective_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: 1785427852.85020375 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802186 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802186 ms (missed cycles : 2).[0m ×2 + 3.36sWARNobjective_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 + 3.36sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.36sINFOobjective_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 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785427853.45310378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.53sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785427853.63324428 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328241 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328241 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785427854.23276401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_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 + 4.17sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785427854.25505686 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785427854.92877531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.94sINFOros2_control_node[2026-07-30 16:10:55.034] [info] Received new action goal ×2 + 4.94sINFOros2_control_node[2026-07-30 16:10:55.034] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028051 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028051 ms (missed cycles : 5).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839168 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839168 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 30 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303645 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303645 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708049 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708049 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.789663 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.789663 ms (missed cycles : 5).[0m ×2 + 2.75sINFOobjective_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 + 2.76sERRORobjective_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: 1785427852.85020375 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802186 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802186 ms (missed cycles : 2).[0m ×2 + 3.36sWARNobjective_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 + 3.36sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.36sINFOobjective_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 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785427853.45310378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.53sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785427853.63324428 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328241 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328241 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785427854.23276401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_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 + 4.17sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785427854.25505686 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785427854.92877531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.94sINFOros2_control_node[2026-07-30 16:10:55.034] [info] Received new action goal ×2 + 4.94sINFOros2_control_node[2026-07-30 16:10:55.034] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028051 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028051 ms (missed cycles : 5).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839168 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839168 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 30 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303645 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.303645 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708049 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708049 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.789663 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.789663 ms (missed cycles : 5).[0m ×2 + 2.75sINFOobjective_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 + 2.76sERRORobjective_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: 1785427852.85020375 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802186 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802186 ms (missed cycles : 2).[0m ×2 + 3.36sWARNobjective_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 + 3.36sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.36sINFOobjective_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 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785427853.45310378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.53sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785427853.63324428 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328241 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328241 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785427854.23276401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_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 + 4.17sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785427854.25505686 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785427854.92877531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.94sINFOros2_control_node[2026-07-30 16:10:55.034] [info] Received new action goal ×2 + 4.94sINFOros2_control_node[2026-07-30 16:10:55.034] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028051 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028051 ms (missed cycles : 5).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839168 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839168 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 1.708049 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708049 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.789663 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.789663 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_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 + 1.74sERRORobjective_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: 1785427852.85020375 seconds ×3 + 1.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.75sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802186 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802186 ms (missed cycles : 2).[0m ×2 + 2.34sWARNobjective_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 + 2.34sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.34sINFOobjective_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 + 2.34sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785427853.45310378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785427853.63324428 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328241 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328241 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785427854.23276401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_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 + 3.15sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785427854.25505686 seconds ×3 + 3.82sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785427854.92877531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.92sINFOros2_control_node[2026-07-30 16:10:55.034] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-07-30 16:10:55.034] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028051 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028051 ms (missed cycles : 5).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839168 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839168 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.487886 ms (missed cycles : 6). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.487886 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 33 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339860 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339860 ms (missed cycles : 4).[0m ×2 + 0.69sINFOobjective_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 + 0.69sINFOros2_control_node[2026-07-30 16:11:05.352] [info] Got request to cancel active goal. ×2 + 0.69sINFOros2_control_node[2026-07-30 16:11:05.352] [info] Canceling active goal... ×2 + 0.70sERRORobjective_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: 1785427865.35779953 seconds ×3 + 0.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242540 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.242540 ms (missed cycles : 4).[0m ×2 + 1.29sWARNobjective_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 + 1.29sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.29sINFOobjective_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 + 1.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785427865.95457149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705084 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705084 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785427867.26470876 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.563982 ms (missed cycles : 6). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.563982 ms (missed cycles : 6).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785427867.85388398 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: 1785427867.85968947 seconds ×3 + 3.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785427868.59145927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785427868.59196305 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882805 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882805 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785427869.17107606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213836 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213836 ms (missed cycles : 2).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785427870.32121062 seconds ×3 + 5.70sWARNINGlaunchuser 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 | 33 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.63sWARNobjective_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 + 0.63sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 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 ×10 + 0.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_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 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 33 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.63sWARNobjective_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 + 0.63sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 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 ×10 + 0.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_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 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 33 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.63sWARNobjective_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 + 0.63sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 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 ×10 + 0.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_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 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 33 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.63sWARNobjective_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 + 0.63sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 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 ×10 + 0.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_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 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 33 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.63sWARNobjective_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 + 0.63sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 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 ×10 + 0.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_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 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 33 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.63sWARNobjective_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 + 0.63sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 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 ×10 + 0.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_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 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 33 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.63sWARNobjective_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 + 0.63sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 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 ×10 + 0.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_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 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.38% 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/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 6.8s | 58 warnings · 592 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/2026-07-30-16-06-48-775669-5240964fa804-9016 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.22sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.23sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.23sINFOcontroller_managerupdate rate is 600 Hz + 1.23sINFOcontroller_managerOverruns handling is : enabled + 1.23sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.23sWARNcontroller_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 9.178502 ms (missed cycles : 6). + 1.44sINFOros2_control_node-1process started with pid [9064] ×2 + 1.46sINFOmove_group-9process started with pid [9101] ×2 + 1.47sINFOparameter_manager_node-10process started with pid [9102] ×2 + 1.47sINFOwaypoint_manager_node-11process started with pid [9103] ×2 + 1.47sINFOmove_joint_resampler_node-12process started with pid [9104] ×2 + 1.47sINFOmove_end_effector_resampler_node-13process started with pid [9105] ×2 + 1.47sINFOobjective_server_node_main-14process started with pid [9106] ×2 + 1.47sINFOcomponent_container_mt-15process started with pid [9107] ×2 + 1.47sINFOcomponent_container_mt-16process started with pid [9108] ×2 + 1.47sINFOexecute_objective_bridge-17process started with pid [9109] ×2 + 1.47sINFOui_teleop_bridge-18process started with pid [9110] ×2 + 1.47sINFOweb_bridge-19process started with pid [9111] ×2 + 1.47sINFOtf2_web_republisher_node-20process started with pid [9189] ×2 + 1.47sINFOvideo_server-21process started with pid [9190] ×2 + 1.47sINFOweb_bridge_auth_proxy-22process started with pid [9191] ×2 + 1.47sINFOweb_video_auth_proxy-23process started with pid [9192] ×2 + 1.48sINFOros2-2process started with pid [9065] ×2 + 1.48sINFOcontroller_managerReceived robot description from topic. + 1.48sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.48sINFOros2-3process started with pid [9066] ×2 + 1.48sINFOros2-4process started with pid [9067] ×2 + 1.48sINFOros2-5process started with pid [9068] ×2 + 1.48sINFOros2-6process started with pid [9069] ×2 + 1.49sINFOros2-7process started with pid [9070] ×2 + 1.49sINFOros2-8process started with pid [9071] ×2 + 1.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.51sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.51sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.51sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.51sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.51sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.52sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.52sWARNros2_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 + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.178502 ms (missed cycles : 6).[0m ×2 + 1.52sINFOros2_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 + 1.53sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.72sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.79sINFOvideo_server2026/07/30 16:06:51 INF MediaMTX v1.19.3, linux, amd64 ×2 + 1.79sINFOvideo_server2026/07/30 16:06:51 INF configuration loaded from /tmp/moveit-webrtc-13pg8mc4/mediamtx.yml ×2 + 1.79sINFOvideo_server2026/07/30 16:06:51 INF [RTSP] started with listeners on 127.0.0.1:13205 (TCP/RTSP) ×2 + 1.79sINFOvideo_server2026/07/30 16:06:51 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.27sINFOmove_group[2026-07-30 16:06:51.586] [moveit_pro_license] [info] ×2 + 2.27sINFOmove_group************************************************* ×4 + 2.27sINFOmove_group* MoveIt Pro License ×2 + 2.27sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578395 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578395 ms (missed cycles : 3).[0m ×2 + 2.41sINFOwaypoint_manager_node[2026-07-30 16:06:51.741] [moveit_pro_license] [info] ×2 + 2.41sINFOwaypoint_manager_node************************************************* ×4 + 2.41sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.41sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.50sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.53sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.53sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.53sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.53sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.55sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.55sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.56sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.59sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.59sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.59sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.59sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.59sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.60sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.60sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.64sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.69sINFOmove_group ×4 + 2.69sINFOmove_group[92mYou can start planning now![0m ×2 + 3.37sINFOobjective_server_node[2026-07-30 16:06:52.702] [moveit_pro_license] [info] ×2 + 3.37sINFOobjective_server_node************************************************* ×4 + 3.37sINFOobjective_server_node* MoveIt Pro License ×2 + 3.37sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.50sINFOobjective_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 + 3.50sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.51sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.51sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.84sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.84sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.84sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.84sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 3.84sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.84sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.84sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.84sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.84sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.84sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.84sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.84sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.84sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.84sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 3.92sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.92sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.06sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.06sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.06sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.06sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.10sWARNobjective_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 + 4.13sINFOcomponent_container_mt[2026-07-30 16:06:53.459] [moveit_pro_license] [info] ×2 + 4.13sINFOcomponent_container_mt************************************************* ×4 + 4.13sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.13sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.14sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 4.14sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 4.16sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.16sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 4.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 4.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 4.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.18sINFOros2_control_node[2026-07-30 16:06:53.516] [info] Controller state will be published at 10 Hz. ×2 + 4.19sINFOros2_control_node[2026-07-30 16:06:53.517] [info] VelocityForceController 'on_configure' succeeded. ×2 + 4.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248137 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248137 ms (missed cycles : 3).[0m ×2 + 4.47sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.47sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.47sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.47sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.50sINFOros2-7process has finished cleanly [pid 9070] ×2 + 4.52sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 4.52sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 4.58sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.58sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.58sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.58sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.62sINFOros2_control_node[2026-07-30 16:06:53.949] [info] Controller state will be published at 20 Hz. ×2 + 4.62sINFOros2_control_node[2026-07-30 16:06:53.950] [info] JointVelocityController 'on_configure' succeeded. ×2 + 4.93sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.93sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.93sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.93sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.93sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 4.93sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 4.96sINFOros2-8process has finished cleanly [pid 9071] ×2 + 4.97sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.97sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.97sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.97sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.98sINFOforce_torque_sensor_broadcasterconfigure successful + 4.98sINFOros2_control_nodeconfigure successful[0m ×2 + 4.98sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.98sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 4.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 4.99sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.99sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.07sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.27sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.27sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.27sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.27sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.27sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 5.27sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 5.29sINFOros2-2process has finished cleanly [pid 9065] ×2 + 5.31sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.31sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.31sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.31sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.31sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 5.31sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 5.31sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 5.31sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.31sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.31sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 5.31sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 5.31sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 5.32sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.32sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.32sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.33sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844252 ms (missed cycles : 5). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844252 ms (missed cycles : 5).[0m ×2 + 5.63sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.63sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.63sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.63sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.64sINFOros2-4process has finished cleanly [pid 9067] ×2 + 5.69sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 5.69sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 5.73sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.73sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.73sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.73sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.73sINFOros2_control_node[2026-07-30 16:06:55.064] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.73sINFOros2_control_node[2026-07-30 16:06:55.064] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.76sINFOros2_control_node[2026-07-30 16:06:55.087] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.76sINFOros2_control_node[2026-07-30 16:06:55.087] [info] Controller state will be published at 50 Hz. ×2 + 5.76sINFOros2_control_node[2026-07-30 16:06:55.092] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.08sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.08sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.08sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.08sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.08sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 6.08sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 6.09sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.09sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.10sINFOros2-6process has finished cleanly [pid 9069] ×2 + 6.12sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.12sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.12sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.12sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.12sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.12sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 6.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 6.13sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.13sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.24sWARNobjective_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 + 6.24sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 6.24sINFOobjective_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 + 6.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785427615.57053638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785427615.58074498 seconds ×3 + 6.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 6.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×9 + 6.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×18 + 6.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 6.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 6.44sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.44sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.44sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.44sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.44sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 6.45sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 6.45sINFOros2-3process has finished cleanly [pid 9066] ×2 + 6.51sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.51sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.51sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.51sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.52sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.52sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.52sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.52sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.52sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.53sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.83sINFOros2-5process has finished cleanly [pid 9068] ×2 + 6.83sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785427616.15989423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476929 ms (missed cycles : 3). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476929 ms (missed cycles : 3).[0m ×2 + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 7.89sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 7.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 7.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 7.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 7.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 7.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 7.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 8.51sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 9.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 9.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 10.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 42 warnings · 313 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 ×7 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 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 ×14 + 0.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785427615.57053638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785427615.58074498 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.21sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.21sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.21sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.21sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.21sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 0.21sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 0.22sINFOros2-3process has finished cleanly [pid 9066] ×2 + 0.28sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.28sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.28sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.28sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.28sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.28sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.28sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.28sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.29sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.29sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.29sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.29sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.29sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.29sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.59sINFOros2-5process has finished cleanly [pid 9068] ×2 + 0.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785427616.15989423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476929 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476929 ms (missed cycles : 3).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_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 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 5.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.23sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 5.23sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2).[0m ×2 + 7.62sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 48 warnings · 366 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844252 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844252 ms (missed cycles : 5).[0m ×2 + 0.04sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.04sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.04sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.05sINFOros2-4process has finished cleanly [pid 9067] ×2 + 0.10sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 0.10sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 0.14sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.14sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.15sINFOros2_control_node[2026-07-30 16:06:55.064] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.15sINFOros2_control_node[2026-07-30 16:06:55.064] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.17sINFOros2_control_node[2026-07-30 16:06:55.087] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.17sINFOros2_control_node[2026-07-30 16:06:55.087] [info] Controller state will be published at 50 Hz. ×2 + 0.17sINFOros2_control_node[2026-07-30 16:06:55.092] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.49sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.49sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.49sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.49sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.49sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 0.49sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 0.50sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.50sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.52sINFOros2-6process has finished cleanly [pid 9069] ×2 + 0.53sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.53sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.54sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.54sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.54sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.54sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.55sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.55sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.65sWARNobjective_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 + 0.65sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.65sINFOobjective_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 + 0.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785427615.57053638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785427615.58074498 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.69sINFOros2_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_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 0.86sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 0.86sINFOros2-3process has finished cleanly [pid 9066] ×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' + 0.93sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.93sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.93sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.93sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.93sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.93sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.93sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.93sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.93sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.93sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.93sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.94sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.94sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.24sINFOros2-5process has finished cleanly [pid 9068] ×2 + 1.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785427616.15989423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476929 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476929 ms (missed cycles : 3).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOobjective_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 + 5.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.88sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 5.88sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2).[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/2026-07-30-16-06-48-775669-5240964fa804-9016 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.22sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.23sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.23sINFOcontroller_managerupdate rate is 600 Hz + 1.23sINFOcontroller_managerOverruns handling is : enabled + 1.23sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.23sWARNcontroller_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 9.178502 ms (missed cycles : 6). + 1.44sINFOros2_control_node-1process started with pid [9064] ×2 + 1.46sINFOmove_group-9process started with pid [9101] ×2 + 1.47sINFOparameter_manager_node-10process started with pid [9102] ×2 + 1.47sINFOwaypoint_manager_node-11process started with pid [9103] ×2 + 1.47sINFOmove_joint_resampler_node-12process started with pid [9104] ×2 + 1.47sINFOmove_end_effector_resampler_node-13process started with pid [9105] ×2 + 1.47sINFOobjective_server_node_main-14process started with pid [9106] ×2 + 1.47sINFOcomponent_container_mt-15process started with pid [9107] ×2 + 1.47sINFOcomponent_container_mt-16process started with pid [9108] ×2 + 1.47sINFOexecute_objective_bridge-17process started with pid [9109] ×2 + 1.47sINFOui_teleop_bridge-18process started with pid [9110] ×2 + 1.47sINFOweb_bridge-19process started with pid [9111] ×2 + 1.47sINFOtf2_web_republisher_node-20process started with pid [9189] ×2 + 1.47sINFOvideo_server-21process started with pid [9190] ×2 + 1.47sINFOweb_bridge_auth_proxy-22process started with pid [9191] ×2 + 1.47sINFOweb_video_auth_proxy-23process started with pid [9192] ×2 + 1.48sINFOros2-2process started with pid [9065] ×2 + 1.48sINFOcontroller_managerReceived robot description from topic. + 1.48sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.48sINFOros2-3process started with pid [9066] ×2 + 1.48sINFOros2-4process started with pid [9067] ×2 + 1.48sINFOros2-5process started with pid [9068] ×2 + 1.48sINFOros2-6process started with pid [9069] ×2 + 1.49sINFOros2-7process started with pid [9070] ×2 + 1.49sINFOros2-8process started with pid [9071] ×2 + 1.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.51sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.51sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.51sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.51sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.51sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.52sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.52sWARNros2_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 + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.178502 ms (missed cycles : 6).[0m ×2 + 1.52sINFOros2_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 + 1.53sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.72sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.79sINFOvideo_server2026/07/30 16:06:51 INF MediaMTX v1.19.3, linux, amd64 ×2 + 1.79sINFOvideo_server2026/07/30 16:06:51 INF configuration loaded from /tmp/moveit-webrtc-13pg8mc4/mediamtx.yml ×2 + 1.79sINFOvideo_server2026/07/30 16:06:51 INF [RTSP] started with listeners on 127.0.0.1:13205 (TCP/RTSP) ×2 + 1.79sINFOvideo_server2026/07/30 16:06:51 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.27sINFOmove_group[2026-07-30 16:06:51.586] [moveit_pro_license] [info] ×2 + 2.27sINFOmove_group************************************************* ×4 + 2.27sINFOmove_group* MoveIt Pro License ×2 + 2.27sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578395 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578395 ms (missed cycles : 3).[0m ×2 + 2.41sINFOwaypoint_manager_node[2026-07-30 16:06:51.741] [moveit_pro_license] [info] ×2 + 2.41sINFOwaypoint_manager_node************************************************* ×4 + 2.41sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.41sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.50sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.53sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.53sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.53sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.53sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.55sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.55sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.56sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.59sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.59sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.59sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.59sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.59sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.60sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.60sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.64sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.69sINFOmove_group ×4 + 2.69sINFOmove_group[92mYou can start planning now![0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 33 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.63sWARNobjective_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 + 0.63sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 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 ×10 + 0.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_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 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 51 warnings · 430 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 0.04sINFOros2-8process has finished cleanly [pid 9071] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.15sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.34sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.35sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 0.35sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 0.36sINFOros2-2process has finished cleanly [pid 9065] ×2 + 0.39sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.39sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.39sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.39sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.39sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.39sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.39sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.39sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.39sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.39sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.39sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.39sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.39sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.40sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.40sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.40sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844252 ms (missed cycles : 5). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844252 ms (missed cycles : 5).[0m ×2 + 0.71sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.71sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.71sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.71sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.71sINFOros2-4process has finished cleanly [pid 9067] ×2 + 0.76sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 0.77sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 0.80sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.81sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.81sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.81sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.81sINFOros2_control_node[2026-07-30 16:06:55.064] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.81sINFOros2_control_node[2026-07-30 16:06:55.064] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.81sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.83sINFOros2_control_node[2026-07-30 16:06:55.087] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.83sINFOros2_control_node[2026-07-30 16:06:55.087] [info] Controller state will be published at 50 Hz. ×2 + 0.84sINFOros2_control_node[2026-07-30 16:06:55.092] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.15sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.15sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.15sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.15sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 1.15sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 1.16sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.16sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.18sINFOros2-6process has finished cleanly [pid 9069] ×2 + 1.20sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.20sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.20sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.20sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.20sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.21sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.21sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.31sWARNobjective_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 + 1.31sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 1.31sINFOobjective_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 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785427615.57053638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785427615.58074498 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.33sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.52sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.52sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.52sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.52sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.52sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 1.52sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 1.52sINFOros2-3process has finished cleanly [pid 9066] ×2 + 1.59sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.59sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.59sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.59sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.59sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.59sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.59sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.59sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.59sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.59sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.59sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.59sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.60sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.60sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.60sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.60sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.90sINFOros2-5process has finished cleanly [pid 9068] ×2 + 1.90sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785427616.15989423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476929 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476929 ms (missed cycles : 3).[0m ×2 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 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 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_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 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 6.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.54sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 6.54sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 51 warnings · 430 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 0.04sINFOros2-8process has finished cleanly [pid 9071] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.15sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.34sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.35sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 0.35sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 0.36sINFOros2-2process has finished cleanly [pid 9065] ×2 + 0.39sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.39sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.39sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.39sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.39sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.39sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.39sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.39sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.39sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.39sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.39sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.39sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.39sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.40sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.40sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.40sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844252 ms (missed cycles : 5). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844252 ms (missed cycles : 5).[0m ×2 + 0.71sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.71sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.71sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.71sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.71sINFOros2-4process has finished cleanly [pid 9067] ×2 + 0.76sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 0.77sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 0.80sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.81sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.81sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.81sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.81sINFOros2_control_node[2026-07-30 16:06:55.064] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.81sINFOros2_control_node[2026-07-30 16:06:55.064] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.81sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.83sINFOros2_control_node[2026-07-30 16:06:55.087] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.83sINFOros2_control_node[2026-07-30 16:06:55.087] [info] Controller state will be published at 50 Hz. ×2 + 0.84sINFOros2_control_node[2026-07-30 16:06:55.092] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.15sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.15sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.15sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.15sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 1.15sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 1.16sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.16sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.18sINFOros2-6process has finished cleanly [pid 9069] ×2 + 1.20sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.20sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.20sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.20sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.20sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.21sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.21sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.31sWARNobjective_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 + 1.31sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 1.31sINFOobjective_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 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785427615.57053638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785427615.58074498 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.33sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.52sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.52sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.52sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.52sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.52sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 1.52sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 1.52sINFOros2-3process has finished cleanly [pid 9066] ×2 + 1.59sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.59sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.59sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.59sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.59sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.59sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.59sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.59sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.59sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.59sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.59sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.59sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.60sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.60sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.60sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.60sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.90sINFOros2-5process has finished cleanly [pid 9068] ×2 + 1.90sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785427616.15989423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476929 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476929 ms (missed cycles : 3).[0m ×2 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 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 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_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 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 6.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.54sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 6.54sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 51 warnings · 430 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 0.04sINFOros2-8process has finished cleanly [pid 9071] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.15sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.34sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.35sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 0.35sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 0.36sINFOros2-2process has finished cleanly [pid 9065] ×2 + 0.39sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.39sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.39sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.39sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.39sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.39sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.39sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.39sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.39sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.39sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.39sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.39sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.39sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.40sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.40sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.40sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844252 ms (missed cycles : 5). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844252 ms (missed cycles : 5).[0m ×2 + 0.71sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.71sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.71sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.71sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.71sINFOros2-4process has finished cleanly [pid 9067] ×2 + 0.76sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 0.77sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 0.80sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.81sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.81sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.81sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.81sINFOros2_control_node[2026-07-30 16:06:55.064] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.81sINFOros2_control_node[2026-07-30 16:06:55.064] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.81sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.83sINFOros2_control_node[2026-07-30 16:06:55.087] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.83sINFOros2_control_node[2026-07-30 16:06:55.087] [info] Controller state will be published at 50 Hz. ×2 + 0.84sINFOros2_control_node[2026-07-30 16:06:55.092] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.15sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.15sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.15sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.15sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 1.15sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 1.16sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.16sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.18sINFOros2-6process has finished cleanly [pid 9069] ×2 + 1.20sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.20sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.20sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.20sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.20sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.21sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.21sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.31sWARNobjective_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 + 1.31sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 1.31sINFOobjective_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 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785427615.57053638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785427615.58074498 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.33sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.33sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.52sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.52sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.52sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.52sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.52sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 1.52sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 1.52sINFOros2-3process has finished cleanly [pid 9066] ×2 + 1.59sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.59sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.59sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.59sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.59sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.59sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.59sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.59sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.59sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.59sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.59sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.59sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.60sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.60sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.60sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.60sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.90sINFOros2-5process has finished cleanly [pid 9068] ×2 + 1.90sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785427616.15989423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476929 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476929 ms (missed cycles : 3).[0m ×2 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 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 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_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 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 6.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.54sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 6.54sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 45 warnings · 366 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844252 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844252 ms (missed cycles : 5).[0m ×2 + 0.04sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.04sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.04sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.05sINFOros2-4process has finished cleanly [pid 9067] ×2 + 0.10sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 0.10sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 0.14sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.14sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.15sINFOros2_control_node[2026-07-30 16:06:55.064] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.15sINFOros2_control_node[2026-07-30 16:06:55.064] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.17sINFOros2_control_node[2026-07-30 16:06:55.087] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.17sINFOros2_control_node[2026-07-30 16:06:55.087] [info] Controller state will be published at 50 Hz. ×2 + 0.17sINFOros2_control_node[2026-07-30 16:06:55.092] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.49sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.49sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.49sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.49sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.49sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 0.49sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 0.50sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.50sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.52sINFOros2-6process has finished cleanly [pid 9069] ×2 + 0.53sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.53sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.54sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.54sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.54sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.54sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.55sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.55sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.65sWARNobjective_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 + 0.65sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.65sINFOobjective_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 + 0.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785427615.57053638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785427615.58074498 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.69sINFOros2_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_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 0.86sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 0.86sINFOros2-3process has finished cleanly [pid 9066] ×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' + 0.93sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.93sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.93sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.93sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.93sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.93sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.93sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.93sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.93sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.93sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.93sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.94sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.94sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.24sINFOros2-5process has finished cleanly [pid 9068] ×2 + 1.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785427616.15989423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476929 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476929 ms (missed cycles : 3).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOobjective_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 + 5.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.88sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 5.88sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 42 warnings · 308 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 ×7 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 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 ×14 + 0.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785427615.57053638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785427615.58074498 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.21sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.21sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.21sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.21sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.21sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle + 0.21sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jbeimo_w --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__getm8j8 --params-file /tmp/launch_params_9r4z9cle [0m ×2 + 0.22sINFOros2-3process has finished cleanly [pid 9066] ×2 + 0.28sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.28sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.28sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.28sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.28sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.28sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.28sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.28sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.29sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.29sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.29sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.29sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.29sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.29sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.59sINFOros2-5process has finished cleanly [pid 9068] ×2 + 0.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785427616.15989423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476929 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476929 ms (missed cycles : 3).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_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 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 5.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.23sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 5.23sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 33 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.63sWARNobjective_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 + 0.63sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 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 ×10 + 0.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_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 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 33 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.63sWARNobjective_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 + 0.63sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 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 ×10 + 0.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_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 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 33 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.63sWARNobjective_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 + 0.63sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 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 ×10 + 0.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_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 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 33 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.63sWARNobjective_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 + 0.63sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 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 ×10 + 0.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_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 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 33 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.63sWARNobjective_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 + 0.63sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 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 ×10 + 0.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_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 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 33 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.63sWARNobjective_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 + 0.63sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 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 ×10 + 0.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_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 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 33 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.63sWARNobjective_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 + 0.63sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 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 ×10 + 0.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_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 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 33 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.63sWARNobjective_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 + 0.63sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 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 ×10 + 0.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_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 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 33 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.63sWARNobjective_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 + 0.63sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 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 ×10 + 0.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_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 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 33 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.63sWARNobjective_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 + 0.63sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 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 ×10 + 0.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_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 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 33 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.63sWARNobjective_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 + 0.63sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 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 ×10 + 0.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_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 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.38% 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/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 36 warnings · 237 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.63sWARNobjective_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 + 0.63sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 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 ×10 + 0.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_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 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.163079 ms (missed cycles : 5). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.163079 ms (missed cycles : 5).[0m ×2 + 6.09sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.11sINFOros2_control_node[2026-07-30 16:07:03.307] [info] Received new action goal ×2 + 6.11sINFOros2_control_node[2026-07-30 16:07:03.307] [info] Accepted new action goal ×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 | 33 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.63sWARNobjective_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 + 0.63sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 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 ×10 + 0.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_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 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 33 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.63sWARNobjective_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 + 0.63sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 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 ×10 + 0.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_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 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 33 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.63sWARNobjective_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 + 0.63sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 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 ×10 + 0.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_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 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 33 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040052 ms (missed cycles : 4).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785427617.22003460 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.63sWARNobjective_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 + 0.63sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 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 ×10 + 0.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785427617.83792830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785427617.91808820 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522587 ms (missed cycles : 4).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785427618.59227967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785427618.62241149 seconds ×3 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785427619.19693804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.710265 ms (missed cycles : 10).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785427619.34763312 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785427620.02687931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785427620.06866717 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204304 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785427620.68321085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_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 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.1153e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-07-30 16:07:00.800] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.464586 ms (missed cycles : 4).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012144 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||