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 | 42.1s | 165 warnings · 308 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.794034 ms (missed cycles : 8). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.794034 ms (missed cycles : 8).[0m ×2 + 0.08sWARNobjective_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 + 0.08sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 0.08sINFOobjective_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 + 0.08sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785441816.18147135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOobjective_server_node[2026-07-30 20:03:36.558] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027627 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027627 ms (missed cycles : 4).[0m ×2 + 1.03sINFOobjective_server_node[0;93m2026-07-30 20:03:37.130308656 [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 + 1.03sINFOobjective_server_node[0;93m2026-07-30 20:03:37.130347687 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.16sINFOobjective_server_node[2026-07-30 20:03:37.260] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.57sINFOobjective_server_node[0;93m2026-07-30 20:03:37.669231081 [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 + 1.57sINFOobjective_server_node[0;93m2026-07-30 20:03:37.669263822 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.65sINFOobjective_server_node[2026-07-30 20:03:37.747] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.68sINFOobjective_server_node[0;93m2026-07-30 20:03:37.782802945 [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 + 1.69sINFOobjective_server_node[0;93m2026-07-30 20:03:37.785082983 [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 + 1.69sINFOobjective_server_node[0;93m2026-07-30 20:03:37.785112473 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.70sINFOobjective_server_node[2026-07-30 20:03:37.799] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.99sINFOobjective_server_node[0;93m2026-07-30 20:03:38.087456305 [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 + 2.01sINFOobjective_server_node[0;93m2026-07-30 20:03:38.106286428 [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 + 2.01sINFOobjective_server_node[0;93m2026-07-30 20:03:38.106324029 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280829 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280829 ms (missed cycles : 4).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412638 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412638 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785441819.53030443 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563840 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563840 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785441820.23583484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 4.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.22sINFOobjective_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 + 4.23sINFOobjective_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 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.53sINFOros2_control_node[2026-07-30 20:03:40.632] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-07-30 20:03:40.632] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114795 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114795 ms (missed cycles : 2).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713076 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713076 ms (missed cycles : 2).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678308 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678308 ms (missed cycles : 2).[0m ×2 + 7.36sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×4 + 7.38sINFOros2_control_node[2026-07-30 20:03:43.479] [info] Received new action goal ×2 + 7.38sINFOros2_control_node[2026-07-30 20:03:43.479] [info] Accepted new action goal ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.717415 ms (missed cycles : 5). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.717415 ms (missed cycles : 5).[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.500184 ms (missed cycles : 3). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.500184 ms (missed cycles : 3).[0m ×2 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209250 ms (missed cycles : 3). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209250 ms (missed cycles : 3).[0m ×2 + 10.54sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×12 + 10.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.55sINFOros2_control_node[2026-07-30 20:03:46.649] [info] Received new action goal ×2 + 10.55sINFOros2_control_node[2026-07-30 20:03:46.649] [info] Accepted new action goal ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.170650 ms (missed cycles : 7). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.170650 ms (missed cycles : 7).[0m ×2 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880628 ms (missed cycles : 2). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880628 ms (missed cycles : 2).[0m ×2 + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.324656 ms (missed cycles : 6). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.324656 ms (missed cycles : 6).[0m ×2 + 13.53sINFOobjective_server_nodeFound path in 0 iterations (8.7e-07 s). ×2 + 13.53sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.57sINFOros2_control_node[2026-07-30 20:03:49.672] [info] Received new action goal ×2 + 13.57sINFOros2_control_node[2026-07-30 20:03:49.672] [info] Accepted new action goal ×2 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709970 ms (missed cycles : 4). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709970 ms (missed cycles : 4).[0m ×2 + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.522187 ms (missed cycles : 6). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.522187 ms (missed cycles : 6).[0m ×2 + 16.53sINFOobjective_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 + 16.53sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.53sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.53sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.53sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779104 ms (missed cycles : 4). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779104 ms (missed cycles : 4).[0m ×2 + 17.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883365 ms (missed cycles : 2). + 17.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883365 ms (missed cycles : 2).[0m ×2 + 18.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652339 ms (missed cycles : 3). + 18.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652339 ms (missed cycles : 3).[0m ×2 + 19.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607377 ms (missed cycles : 3). + 19.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607377 ms (missed cycles : 3).[0m ×2 + 20.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829172 ms (missed cycles : 2). + 20.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829172 ms (missed cycles : 2).[0m ×2 + 21.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694582 ms (missed cycles : 2). + 21.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694582 ms (missed cycles : 2).[0m ×2 + 22.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692337 ms (missed cycles : 2). + 22.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692337 ms (missed cycles : 2).[0m ×2 + 23.29sINFOobjective_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 + 23.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.29sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.29sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.29sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.29sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681196 ms (missed cycles : 3). + 23.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681196 ms (missed cycles : 3).[0m ×2 + 24.25sINFOros2_control_node[2026-07-30 20:04:00.345] [info] Received new action goal ×2 + 24.25sINFOros2_control_node[2026-07-30 20:04:00.345] [info] Accepted new action goal ×2 + 24.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307209 ms (missed cycles : 4). + 24.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307209 ms (missed cycles : 4).[0m ×2 + 25.42sINFOobjective_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 + 25.43sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.70sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.76sINFOros2_control_node[2026-07-30 20:04:01.855] [info] Received new action goal ×2 + 25.76sINFOros2_control_node[2026-07-30 20:04:01.855] [info] Accepted new action goal ×2 + 25.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080410 ms (missed cycles : 5). + 25.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080410 ms (missed cycles : 5).[0m ×2 + 26.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927834 ms (missed cycles : 2). + 26.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927834 ms (missed cycles : 2).[0m ×2 + 27.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.798139 ms (missed cycles : 5). + 27.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.798139 ms (missed cycles : 5).[0m ×2 + 27.87sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 27.87sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.89sINFOros2_control_node[2026-07-30 20:04:03.985] [info] Received new action goal ×2 + 27.89sINFOros2_control_node[2026-07-30 20:04:03.985] [info] Accepted new action goal ×2 + 28.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980800 ms (missed cycles : 2). + 28.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980800 ms (missed cycles : 2).[0m ×2 + 29.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872692 ms (missed cycles : 3). + 29.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872692 ms (missed cycles : 3).[0m ×2 + 30.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974133 ms (missed cycles : 5). + 30.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974133 ms (missed cycles : 5).[0m ×2 + 30.94sINFOros2_control_node[2026-07-30 20:04:07.040] [info] Received new action goal ×2 + 30.94sINFOros2_control_node[2026-07-30 20:04:07.040] [info] Accepted new action goal ×2 + 31.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934595 ms (missed cycles : 2). + 31.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934595 ms (missed cycles : 2).[0m ×2 + 32.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138050 ms (missed cycles : 4). + 32.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138050 ms (missed cycles : 4).[0m ×2 + 33.54sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 33.54sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.57sINFOros2_control_node[2026-07-30 20:04:09.672] [info] Received new action goal ×2 + 33.57sINFOros2_control_node[2026-07-30 20:04:09.672] [info] Accepted new action goal ×2 + 33.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871778 ms (missed cycles : 2). + 33.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871778 ms (missed cycles : 2).[0m ×2 + 34.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962099 ms (missed cycles : 3). + 34.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962099 ms (missed cycles : 3).[0m ×2 + 35.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215337 ms (missed cycles : 2). + 35.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215337 ms (missed cycles : 2).[0m ×2 + 37.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077174 ms (missed cycles : 2). + 37.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077174 ms (missed cycles : 2).[0m ×2 + 37.21sINFOros2_control_nodeMuJoCo sim: 0.43% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 38.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.280724 ms (missed cycles : 7). + 38.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.280724 ms (missed cycles : 7).[0m ×2 + 39.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.526212 ms (missed cycles : 7). + 39.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.526212 ms (missed cycles : 7).[0m ×2 + 40.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756377 ms (missed cycles : 2). + 40.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756377 ms (missed cycles : 2).[0m ×2 + 41.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164832 ms (missed cycles : 4). + 41.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164832 ms (missed cycles : 4).[0m ×2 + 42.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.525433 ms (missed cycles : 6). + 42.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.525433 ms (missed cycles : 6).[0m ×2 + 43.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695125 ms (missed cycles : 2). + 43.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695125 ms (missed cycles : 2).[0m ×2 + 44.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163627 ms (missed cycles : 2). + 44.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163627 ms (missed cycles : 2).[0m ×2 + 44.30sINFOros2_control_node[2026-07-30 20:04:20.399] [info] Received new action goal ×2 + 44.30sINFOros2_control_node[2026-07-30 20:04:20.399] [info] Accepted new action goal ×2 + 45.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852552 ms (missed cycles : 5). + 45.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852552 ms (missed cycles : 5).[0m ×2 + 45.46sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1785441861.55602860 seconds ×3 + 46.27sINFOobjective_server_nodeObjective `Push Button` starting at time: 1785441862.37305403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164237 ms (missed cycles : 4). + 46.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164237 ms (missed cycles : 4).[0m ×2 + 47.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445381 ms (missed cycles : 4). + 47.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445381 ms (missed cycles : 4).[0m ×2 + 47.48sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 47.49sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.50sINFOros2_control_node[2026-07-30 20:04:23.597] [info] Received new action goal ×2 + 47.50sINFOros2_control_node[2026-07-30 20:04:23.597] [info] Accepted new action goal ×2 + 48.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.981038 ms (missed cycles : 4). + 48.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.981038 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 29.8s | 3 errors · 117 warnings · 255 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121387 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121387 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736042 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736042 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.803735 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.803735 ms (missed cycles : 5).[0m ×2 + 2.20sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 2.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.46sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 2.46sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1785441891.85888410 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sWARNobjective_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 + 3.09sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.09sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296364 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296364 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1785441892.56364846 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 3.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 3.26sINFOobjective_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 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOobjective_server_nodeFound path in 5 iterations (0.00355679 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 3.41sINFOros2_control_node[2026-07-30 20:04:52.809] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-07-30 20:04:52.809] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.820884 ms (missed cycles : 11). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.820884 ms (missed cycles : 11).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241291 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241291 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.564925 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.564925 ms (missed cycles : 4).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975805 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975805 ms (missed cycles : 3).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411336 ms (missed cycles : 3). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411336 ms (missed cycles : 3).[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.446519 ms (missed cycles : 6). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.446519 ms (missed cycles : 6).[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854837 ms (missed cycles : 3). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854837 ms (missed cycles : 3).[0m ×2 + 11.02sINFOobjective_server_node[2026-07-30 20:05:00.415] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682986 ms (missed cycles : 2). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682986 ms (missed cycles : 2).[0m ×2 + 11.59sINFOobjective_server_node[0;m[0;93m2026-07-30 20:05:00.986603183 [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 + 11.59sINFOobjective_server_node[0;93m2026-07-30 20:05:00.986648843 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 11.69sINFOobjective_server_node[2026-07-30 20:05:01.094] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 12.09sINFOobjective_server_node[0;93m2026-07-30 20:05:01.486514172 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 12.09sINFOobjective_server_node[0;93m2026-07-30 20:05:01.486554952 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.15sINFOobjective_server_node[2026-07-30 20:05:01.546] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 12.18sINFOobjective_server_node[0;93m2026-07-30 20:05:01.583880656 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 12.19sINFOobjective_server_node[0;93m2026-07-30 20:05:01.586541541 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 12.19sINFOobjective_server_node[0;93m2026-07-30 20:05:01.586569461 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.20sINFOobjective_server_node[2026-07-30 20:05:01.600] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.239759 ms (missed cycles : 4). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.239759 ms (missed cycles : 4).[0m ×2 + 12.48sINFOobjective_server_node[0;93m2026-07-30 20:05:01.878203516 [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 + 12.50sINFOobjective_server_node[0;93m2026-07-30 20:05:01.896948487 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 12.50sINFOobjective_server_node[0;93m2026-07-30 20:05:01.896980197 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721407 ms (missed cycles : 3). + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721407 ms (missed cycles : 3).[0m ×2 + 14.35sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 14.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088062 ms (missed cycles : 2). + 14.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088062 ms (missed cycles : 2).[0m ×2 + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.534646 ms (missed cycles : 6). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.534646 ms (missed cycles : 6).[0m ×2 + 16.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693618 ms (missed cycles : 2). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693618 ms (missed cycles : 2).[0m ×2 + 17.19sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 17.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599468 ms (missed cycles : 3). + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599468 ms (missed cycles : 3).[0m ×2 + 17.55sINFOobjective_server_nodeFound path in 4 iterations (0.00328953 s). ×2 + 17.63sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 17.66sINFOobjective_server_nodeFound path in 12 iterations (0.00484415 s). ×2 + 17.73sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 17.76sINFOobjective_server_nodeFound path in 1 iterations (0.002712 s). ×2 + 17.82sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] ×2 + 17.84sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 17.87sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 17.90sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 17.92sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 17.95sINFOobjective_server_nodeFound path in 12 iterations (0.00539515 s). ×2 + 18.01sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] ×2 + 18.03sINFOobjective_server_nodeFound path in 1 iterations (0.00464365 s). ×2 + 18.08sINFOobjective_server_nodePath shortcutter: [X______________________________X_____________________X] ×2 + 18.11sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×4 + 18.14sINFOobjective_server_nodePath shortcutter: [X_______________________________________X] ×2 + 18.17sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 18.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 18.23sINFOobjective_server_nodeFound path in 4 iterations (0.00506453 s). ×2 + 18.31sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 18.34sINFOobjective_server_nodeFound path in 4 iterations (0.0032978 s). ×2 + 18.44sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X______________________X] ×2 + 18.47sINFOobjective_server_nodeFound path in 1 iterations (0.00569832 s). ×2 + 18.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200208 ms (missed cycles : 5). + 18.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200208 ms (missed cycles : 5).[0m ×2 + 18.53sINFOobjective_server_nodePath shortcutter: [X__________________________________X_____________________________X] ×2 + 18.57sINFOobjective_server_nodeFound path in 1 iterations (0.00311758 s). ×2 + 18.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X_________________________X] ×2 + 18.68sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 18.70sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 18.74sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X] ×2 + 18.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 18.93sINFOros2_control_node[2026-07-30 20:05:08.335] [info] Received new action goal ×2 + 18.94sINFOros2_control_node[2026-07-30 20:05:08.335] [info] Accepted new action goal ×2 + 19.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.833097 ms (missed cycles : 8). + 19.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.833097 ms (missed cycles : 8).[0m ×2 + 20.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348972 ms (missed cycles : 3). + 20.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348972 ms (missed cycles : 3).[0m ×2 + 21.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.147556 ms (missed cycles : 7). + 21.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.147556 ms (missed cycles : 7).[0m ×2 + 22.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.717510 ms (missed cycles : 5). + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.717510 ms (missed cycles : 5).[0m ×2 + 23.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.725100 ms (missed cycles : 5). + 23.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.725100 ms (missed cycles : 5).[0m ×2 + 23.91sINFOros2_control_nodeMuJoCo sim: 0.47% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 23.94sINFOros2_control_node[2026-07-30 20:05:13.338] [info] Received new action goal ×2 + 23.94sINFOros2_control_node[2026-07-30 20:05:13.338] [info] Accepted new action goal ×2 + 24.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520700 ms (missed cycles : 3). + 24.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520700 ms (missed cycles : 3).[0m ×2 + 25.51sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 25.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 25.52sINFOros2_control_node[2026-07-30 20:05:14.923] [info] Received new action goal ×2 + 25.52sINFOros2_control_node[2026-07-30 20:05:14.923] [info] Accepted new action goal ×2 + 25.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185333 ms (missed cycles : 4). + 25.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185333 ms (missed cycles : 4).[0m ×2 + 26.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871850 ms (missed cycles : 4). + 26.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871850 ms (missed cycles : 4).[0m ×2 + 26.75sWARNobjective_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 + 26.75sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 26.78sINFOros2_control_node[2026-07-30 20:05:16.184] [info] Received new action goal ×2 + 26.78sINFOros2_control_node[2026-07-30 20:05:16.184] [info] Accepted new action goal ×2 + 27.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226403 ms (missed cycles : 3). + 27.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226403 ms (missed cycles : 3).[0m ×2 + 28.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155512 ms (missed cycles : 2). + 28.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155512 ms (missed cycles : 2).[0m ×2 + 29.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330493 ms (missed cycles : 3). + 29.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330493 ms (missed cycles : 3).[0m ×2 + 30.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464545 ms (missed cycles : 3). + 30.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464545 ms (missed cycles : 3).[0m ×2 + 31.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304916 ms (missed cycles : 4). + 31.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304916 ms (missed cycles : 4).[0m ×2 + 32.21sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785441921.61362362 seconds ×3 + 32.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 32.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 32.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 32.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 32.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 32.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 32.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139161 ms (missed cycles : 5). + 32.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139161 ms (missed cycles : 5).[0m ×2 + 32.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785441922.32004952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 33.11sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 33.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 33.14sINFOros2_control_node[2026-07-30 20:05:22.524] [info] Received new action goal ×2 + 33.14sINFOros2_control_node[2026-07-30 20:05:22.524] [info] Accepted new action goal ×2 + 33.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004014 ms (missed cycles : 2). + 33.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004014 ms (missed cycles : 2).[0m ×2 + 34.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092150 ms (missed cycles : 2). + 34.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092150 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 23.9s | 3 errors · 105 warnings · 215 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742867 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742867 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039199 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039199 ms (missed cycles : 4).[0m ×2 + 1.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.11sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 1.11sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.13sINFOros2_control_node[2026-07-30 20:02:19.784] [info] Received new action goal ×2 + 1.13sINFOros2_control_node[2026-07-30 20:02:19.784] [info] Accepted new action goal ×2 + 1.72sINFOobjective_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 + 1.72sINFOros2_control_node[2026-07-30 20:02:20.382] [info] Got request to cancel active goal. ×2 + 1.72sINFOros2_control_node[2026-07-30 20:02:20.382] [info] Canceling active goal... ×2 + 1.74sERRORobjective_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: 1785441740.39915395 seconds ×3 + 1.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.75sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217275 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217275 ms (missed cycles : 3).[0m ×2 + 2.35sWARNobjective_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 ×4 + 2.35sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.35sINFOobjective_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 + 2.35sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785441741.01302314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785441741.12315822 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785441741.74214959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539258 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539258 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×4 + 3.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.27sINFOros2_control_node[2026-07-30 20:02:21.925] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-07-30 20:02:21.925] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501139 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501139 ms (missed cycles : 5).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100055 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100055 ms (missed cycles : 4).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998965 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998965 ms (missed cycles : 2).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286210 ms (missed cycles : 3). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286210 ms (missed cycles : 3).[0m ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.293343 ms (missed cycles : 2). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.293343 ms (missed cycles : 2).[0m ×2 + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476943 ms (missed cycles : 2). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476943 ms (missed cycles : 2).[0m ×2 + 10.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170601 ms (missed cycles : 4). + 10.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170601 ms (missed cycles : 4).[0m ×2 + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551547 ms (missed cycles : 5). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551547 ms (missed cycles : 5).[0m ×2 + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994628 ms (missed cycles : 2). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994628 ms (missed cycles : 2).[0m ×2 + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.734206 ms (missed cycles : 5). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.734206 ms (missed cycles : 5).[0m ×2 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068273 ms (missed cycles : 2). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068273 ms (missed cycles : 2).[0m ×2 + 15.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.760416 ms (missed cycles : 6). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.760416 ms (missed cycles : 6).[0m ×2 + 16.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258751 ms (missed cycles : 3). + 16.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258751 ms (missed cycles : 3).[0m ×2 + 17.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821057 ms (missed cycles : 3). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821057 ms (missed cycles : 3).[0m ×2 + 18.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.117025 ms (missed cycles : 7). + 18.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.117025 ms (missed cycles : 7).[0m ×2 + 19.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.801304 ms (missed cycles : 8). + 19.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.801304 ms (missed cycles : 8).[0m ×2 + 20.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095956 ms (missed cycles : 4). + 20.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095956 ms (missed cycles : 4).[0m ×2 + 20.72sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 20.72sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 20.72sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 21.00sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 21.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 21.00sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 21.01sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 21.02sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 21.04sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 21.07sINFOobjective_server_nodeFound path in 5 iterations (0.00473583 s). ×2 + 21.10sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 21.17sINFOros2_control_node[2026-07-30 20:02:39.830] [info] Received new action goal ×2 + 21.17sINFOros2_control_node[2026-07-30 20:02:39.830] [info] Accepted new action goal ×2 + 21.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045081 ms (missed cycles : 2). + 21.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045081 ms (missed cycles : 2).[0m ×2 + 22.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.694046 ms (missed cycles : 5). + 22.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.694046 ms (missed cycles : 5).[0m ×2 + 23.39sINFOros2_control_node[2026-07-30 20:02:42.052] [info] Received new action goal ×2 + 23.39sINFOros2_control_node[2026-07-30 20:02:42.052] [info] Accepted new action goal ×2 + 23.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.733243 ms (missed cycles : 5). + 23.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.733243 ms (missed cycles : 5).[0m ×2 + 24.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679722 ms (missed cycles : 3). + 24.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679722 ms (missed cycles : 3).[0m ×2 + 25.10sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 25.10sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 25.11sINFOros2_control_node[2026-07-30 20:02:43.765] [info] Received new action goal ×2 + 25.11sINFOros2_control_node[2026-07-30 20:02:43.765] [info] Accepted new action goal ×2 + 25.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679097 ms (missed cycles : 2). + 25.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679097 ms (missed cycles : 2).[0m ×2 + 26.38sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785441765.04238296 seconds ×3 + 26.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563555 ms (missed cycles : 2). + 26.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563555 ms (missed cycles : 2).[0m ×2 + 27.00sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785441765.66049695 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 27.11sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785441765.77064443 seconds ×3 + 27.75sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785441766.40740848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 27.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381923 ms (missed cycles : 3). + 27.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381923 ms (missed cycles : 3).[0m ×2 + 27.84sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 27.85sINFOros2_control_node[2026-07-30 20:02:46.511] [info] Received new action goal ×2 + 27.85sINFOros2_control_node[2026-07-30 20:02:46.511] [info] Accepted new action goal ×2 + 28.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772597 ms (missed cycles : 5). + 28.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772597 ms (missed cycles : 5).[0m ×2 + 29.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945669 ms (missed cycles : 2). + 29.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945669 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 12.7s | 24 errors · 72 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 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815617 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815617 ms (missed cycles : 2).[0m ×2 + 1.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785441876.77512503 seconds ×3 + 1.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×11 + 1.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.228708 ms (missed cycles : 7). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.228708 ms (missed cycles : 7).[0m ×2 + 1.62sWARNobjective_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 + 1.62sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 1.62sINFOobjective_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 + 1.66sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785441877.40257120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_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 + 1.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×3 + 1.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 1.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×6 + 1.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×3 + 1.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×6 + 1.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 1.79sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 1.79sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 1.80sINFOros2_control_node[2026-07-30 20:04:37.546] [info] Received new action goal ×2 + 1.80sINFOros2_control_node[2026-07-30 20:04:37.546] [info] Accepted new action goal ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419211 ms (missed cycles : 4). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419211 ms (missed cycles : 4).[0m ×2 + 3.12sINFOobjective_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 + 3.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157337 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157337 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785441879.12017965 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785441879.76895642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.18sINFOros2_control_node[2026-07-30 20:04:39.924] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-07-30 20:04:39.924] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.384188 ms (missed cycles : 11). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.384188 ms (missed cycles : 11).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581539 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581539 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096403 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096403 ms (missed cycles : 2).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.496785 ms (missed cycles : 9). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.496785 ms (missed cycles : 9).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037259 ms (missed cycles : 2). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037259 ms (missed cycles : 2).[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.381541 ms (missed cycles : 9). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.381541 ms (missed cycles : 9).[0m ×2 + 9.50sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 9.50sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 9.52sINFOros2_control_node[2026-07-30 20:04:45.258] [info] Received new action goal ×2 + 9.52sINFOros2_control_node[2026-07-30 20:04:45.258] [info] Accepted new action goal ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.127769 ms (missed cycles : 7). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.127769 ms (missed cycles : 7).[0m ×2 + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.154769 ms (missed cycles : 7). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.154769 ms (missed cycles : 7).[0m ×2 + 11.57sINFOros2_control_node[2026-07-30 20:04:47.310] [info] Received new action goal ×2 + 11.57sINFOros2_control_node[2026-07-30 20:04:47.310] [info] Accepted new action goal ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376471 ms (missed cycles : 3). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376471 ms (missed cycles : 3).[0m ×2 + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121387 ms (missed cycles : 2). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121387 ms (missed cycles : 2).[0m ×2 + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736042 ms (missed cycles : 2). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736042 ms (missed cycles : 2).[0m ×2 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.803735 ms (missed cycles : 5). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.803735 ms (missed cycles : 5).[0m ×2 + 16.12sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1785441891.85888410 seconds ×3 + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296364 ms (missed cycles : 3). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296364 ms (missed cycles : 3).[0m ×2 + 16.82sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1785441892.56364846 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 16.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 17.01sINFOobjective_server_nodeFound path in 5 iterations (0.00355679 s). ×2 + 17.05sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 17.07sINFOros2_control_node[2026-07-30 20:04:52.809] [info] Received new action goal ×2 + 17.07sINFOros2_control_node[2026-07-30 20:04:52.809] [info] Accepted new action goal ×2 + 17.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.820884 ms (missed cycles : 11). + 17.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.820884 ms (missed cycles : 11).[0m ×2 + 18.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241291 ms (missed cycles : 2). + 18.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241291 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 12.2s | 69 errors · 50 warnings · 379 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.053789 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.053789 ms (missed cycles : 6).[0m ×2 + 0.32sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.33sINFOros2_control_node[2026-07-30 20:06:17.384] [info] Got request to cancel active goal. ×2 + 0.33sINFOros2_control_node[2026-07-30 20:06:17.384] [info] Canceling active goal... ×2 + 0.34sERRORobjective_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: 1785441977.39750051 seconds ×3 + 0.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.93sWARNobjective_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 + 0.93sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 0.93sINFOobjective_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 + 0.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785441977.99957657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313745 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313745 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785441978.43043470 seconds ×3 + 1.96sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785441979.01948500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 1.96sINFOobjective_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 + 1.96sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 1.96sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785441979.02157116 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456643 ms (missed cycles : 6). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456643 ms (missed cycles : 6).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785441979.72171831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785441979.72217011 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682324 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682324 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785441980.30798864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537563 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537563 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.610942 ms (missed cycles : 8). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.610942 ms (missed cycles : 8).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785441982.53824735 seconds ×3 + 5.53sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828712 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828712 ms (missed cycles : 2).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.638333 ms (missed cycles : 6). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.638333 ms (missed cycles : 6).[0m ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.484874 ms (missed cycles : 7). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.484874 ms (missed cycles : 7).[0m ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633026 ms (missed cycles : 3). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633026 ms (missed cycles : 3).[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708406 ms (missed cycles : 2). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708406 ms (missed cycles : 2).[0m ×2 + 10.90sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.91sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sERRORweb_video_auth_proxy-23process has died [pid 9186, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.92sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.93sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORweb_bridge_auth_proxy-22process has died [pid 9183, 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 + 10.93sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.95sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.97sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.97sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.98sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.99sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.00sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.01sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.02sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.03sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.04sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.05sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.06sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.06sINFOvideo_server-21process has finished cleanly [pid 9182] ×2 + 11.07sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.08sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.08sINFOcontroller_managerShutdown request received.... + 11.08sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.08sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.08sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.08sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.08sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.08sINFOvideo_server2026/07/30 20:06:28 INF shutting down gracefully ×2 + 11.08sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.08sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.08sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.08sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.08sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.08sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.08sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.08sINFOcontroller_managerShutting down the controller manager. + 11.08sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.08sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.08sINFOvideo_server2026/07/30 20:06:28 INF [WebRTC] closing ×2 + 11.08sINFOvideo_server2026/07/30 20:06:28 INF [RTSP] closing ×2 + 11.08sINFOvideo_server2026/07/30 20:06:28 INF waiting for running hooks ×2 + 11.08sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.08sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.08sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.08sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.08sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 340, in main ×2 + 11.08sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.08sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.08sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.08sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.08sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.08sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.08sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.08sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.09sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.09sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.09sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.09sERRORmove_groupStack trace (most recent call last) in thread 9489: ×2 + 11.09sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.09sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.09sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8a32ce4a63, in __clone ×2 + 11.09sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8a32c57aa3, in ×2 + 11.09sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8a32ee9db3, in ×2 + 11.09sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f8a3362ced7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.09sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8a3325c4d0, in rclcpp::Rate::sleep() ×2 + 11.09sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8a331afa88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.09sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8a33174a71, in ×2 + 11.09sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8a32eb8390, in __cxa_throw ×2 + 11.09sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8a32ea2a54, in std::terminate() ×2 + 11.09sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8a32eb80d9, in ×2 + 11.09sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8a32ea2ff4, in ×2 + 11.09sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8a32be38fe, in abort ×2 + 11.09sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8a32c0027d, in raise ×2 + 11.09sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8a32c59b2c, in pthread_kill ×2 + 11.09sERRORmove_groupAborted (Signal sent by tkill() 9038 0) ×2 + 11.09sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.09sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.09sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.09sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.09sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.09sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.09sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.09sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.09sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.09sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.09sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.09sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.09sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.09sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.09sERRORmove_group-9process has died [pid 9038, 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_6nscjmyk --params-file /tmp/launch_params_rauu_la8 --params-file /tmp/launch_params_aa2mveyo --params-file /tmp/launch_params_k_o6bidj --params-file /tmp/launch_params_kb8ovpuv --params-file /tmp/launch_params_r7ako3ou']. ×2 + 11.09sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.09sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.09sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.09sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.09sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.09sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.17sINFOobjective_server_node[0;m[2026-07-30 20:06:28.230] [moveit_pro_license] [info] ×2 + 11.17sINFOobjective_server_node************************************************* ×4 + 11.17sINFOobjective_server_node* MoveIt Pro License ×2 + 11.17sINFOobjective_server_node* Application has successfully terminated ×2 + 11.24sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.25sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.25sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55c0cf2456a4, in _start ×2 + 11.25sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb2cefb328a, in __libc_start_main ×2 + 11.25sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb2cefb31d0, in ×2 + 11.25sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb2cefd0bbd, in exit ×2 + 11.25sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb2cefd0a75, in ×2 + 11.25sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fb2cf49f8f5, in spdlog::details::registry::~registry() ×2 + 11.25sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55c0cf245d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.25sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55c0cf24c315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.25sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55c0cf24b5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.25sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55c0cf247b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.25sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55c0cf245d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.25sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb2cfb59454, in rclcpp::Node::~Node() ×2 + 11.25sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb2cfb14515, in ×2 + 11.25sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb2cfb57d20, in ×2 + 11.25sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb2cfb57c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.25sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb2cfb145d9, in ×2 + 11.25sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb2cfb19161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.25sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fb2a095a450]) ×2 + 11.29sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.29sINFOros2_control_nodepublish_async_failures_ 6[0m ×2 + 11.29sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.74sERRORobjective_server_node_main-14process has died [pid 9060, 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_5ifeboo2 --params-file /tmp/launch_params_brjt4aab --params-file /tmp/launch_params_57snyhvu --params-file /tmp/launch_params_n0e5w32w --params-file /tmp/launch_params_fy2xa8t2 --params-file /tmp/launch_params_ttvh0m3g --params-file /tmp/launch_params_gbxfi_0m --params-file /tmp/launch_params_cd2txzh_ --params-file /tmp/launch_params_nwlhg_hx']. ×2 + 11.74sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.01sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9179] ×2 + 12.01sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 12.07sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9059] ×2 + 12.08sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9058] ×2 + 12.10sINFOexecute_objective_bridge-17process has finished cleanly [pid 9063] ×2 + 12.11sERRORui_teleop_bridge-18process has died [pid 9064, 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_7npn4r5b']. ×2 + 12.11sINFOcomponent_container_mt-16process has finished cleanly [pid 9062] ×2 + 12.14sINFOwaypoint_manager_node-11process has finished cleanly [pid 9057] ×2 + 12.14sINFOparameter_manager_node-10process has finished cleanly [pid 9047] ×2 + 13.22sINFOweb_bridge-19process has finished cleanly [pid 9065] ×2 + 13.22sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.23sINFOcomponent_container_mt-15process has finished cleanly [pid 9061] ×2 + 13.79sINFOros2_control_node-1process has finished cleanly [pid 9018] ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 3 errors · 63 warnings · 185 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346939 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346939 ms (missed cycles : 6).[0m ×2 + 0.04sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.04sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 0.05sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.06sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.12sINFOobjective_server_nodeFound path in 5 iterations (0.00427174 s). ×2 + 0.15sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.22sINFOros2_control_node[2026-07-30 20:03:16.744] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-07-30 20:03:16.744] [info] Accepted new action goal ×2 + 0.61sINFOros2_control_node[2026-07-30 20:03:17.136] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-07-30 20:03:17.136] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.268042 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.268042 ms (missed cycles : 6).[0m ×2 + 1.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434137 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434137 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_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 + 2.45sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.45sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.45sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.45sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.49sERRORobjective_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: 1785441799.02275443 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628548 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628548 ms (missed cycles : 3).[0m ×2 + 3.20sWARNobjective_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 + 3.20sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.20sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 3.27sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1785441799.79416251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.46sINFOros2_control_node[2026-07-30 20:03:19.987] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-07-30 20:03:19.987] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820464 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820464 ms (missed cycles : 2).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519757 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519757 ms (missed cycles : 2).[0m ×2 + 5.84sINFOros2_control_node[2026-07-30 20:03:22.364] [info] Received new action goal ×2 + 5.84sINFOros2_control_node[2026-07-30 20:03:22.364] [info] Accepted new action goal ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.434940 ms (missed cycles : 6). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.434940 ms (missed cycles : 6).[0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.115376 ms (missed cycles : 4). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.115376 ms (missed cycles : 4).[0m ×2 + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272394 ms (missed cycles : 2). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272394 ms (missed cycles : 2).[0m ×2 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766295 ms (missed cycles : 2). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766295 ms (missed cycles : 2).[0m ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483046 ms (missed cycles : 3). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483046 ms (missed cycles : 3).[0m ×2 + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279328 ms (missed cycles : 3). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279328 ms (missed cycles : 3).[0m ×2 + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731043 ms (missed cycles : 3). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731043 ms (missed cycles : 3).[0m ×2 + 13.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690163 ms (missed cycles : 3). + 13.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690163 ms (missed cycles : 3).[0m ×2 + 14.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705324 ms (missed cycles : 2). + 14.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705324 ms (missed cycles : 2).[0m ×2 + 14.41sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785441810.93792367 seconds ×3 + 15.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785441811.59157419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.15sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.15sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.16sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785441811.69177246 seconds ×3 + 15.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398831 ms (missed cycles : 5). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398831 ms (missed cycles : 5).[0m ×2 + 15.94sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785441812.46894336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.05sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 16.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.06sINFOros2_control_node[2026-07-30 20:03:32.591] [info] Received new action goal ×2 + 16.06sINFOros2_control_node[2026-07-30 20:03:32.591] [info] Accepted new action goal ×2 + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.119540 ms (missed cycles : 7). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.119540 ms (missed cycles : 7).[0m ×2 + 17.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332413 ms (missed cycles : 3). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332413 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 9.525433 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.525433 ms (missed cycles : 6).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695125 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695125 ms (missed cycles : 2).[0m ×2 + 1.17sINFOobjective_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 + 1.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.17sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.17sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.17sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163627 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163627 ms (missed cycles : 2).[0m ×2 + 2.09sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 2.10sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.11sINFOros2_control_node[2026-07-30 20:04:20.399] [info] Received new action goal ×2 + 2.11sINFOros2_control_node[2026-07-30 20:04:20.399] [info] Accepted new action goal ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852552 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852552 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1785441861.55602860 seconds ×3 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.92sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.92sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.92sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 4.08sINFOobjective_server_nodeObjective `Push Button` starting at time: 1785441862.37305403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164237 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164237 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445381 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445381 ms (missed cycles : 4).[0m ×2 + 5.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 5.30sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.31sINFOros2_control_node[2026-07-30 20:04:23.597] [info] Received new action goal ×2 + 5.31sINFOros2_control_node[2026-07-30 20:04:23.597] [info] Accepted new action goal ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.981038 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.981038 ms (missed cycles : 4).[0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911651 ms (missed cycles : 4). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911651 ms (missed cycles : 4).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.914900 ms (missed cycles : 7). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.914900 ms (missed cycles : 7).[0m ×2 + 9.01sINFOobjective_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 + 9.01sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 9.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.01sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 9.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.01sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 9.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.01sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440553 ms (missed cycles : 3). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440553 ms (missed cycles : 3).[0m ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677897 ms (missed cycles : 3). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677897 ms (missed cycles : 3).[0m ×2 + 11.39sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 11.40sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.41sINFOros2_control_node[2026-07-30 20:04:29.697] [info] Received new action goal ×2 + 11.41sINFOros2_control_node[2026-07-30 20:04:29.697] [info] Accepted new action goal ×2 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270009 ms (missed cycles : 4). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270009 ms (missed cycles : 4).[0m ×2 + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.636527 ms (missed cycles : 5). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.636527 ms (missed cycles : 5).[0m ×2 + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962278 ms (missed cycles : 3). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962278 ms (missed cycles : 3).[0m ×2 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604628 ms (missed cycles : 3). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604628 ms (missed cycles : 3).[0m ×2 + 15.03sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785441873.31763148 seconds ×3 + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603421 ms (missed cycles : 3). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603421 ms (missed cycles : 3).[0m ×2 + 15.66sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785441873.95335031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.83sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 15.83sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.84sINFOros2_control_node[2026-07-30 20:04:34.126] [info] Received new action goal ×2 + 15.84sINFOros2_control_node[2026-07-30 20:04:34.126] [info] Accepted new action goal ×2 + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.970001 ms (missed cycles : 5). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.970001 ms (missed cycles : 5).[0m ×2 + 17.10sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 17.11sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.45sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×18 + 17.47sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 17.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815617 ms (missed cycles : 2). + 17.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815617 ms (missed cycles : 2).[0m ×2 + 18.49sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785441876.77512503 seconds ×3 + 18.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 18.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 18.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 18.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 18.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 18.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.2s | 6 errors · 84 warnings · 293 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.541207 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.541207 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892521 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892521 ms (missed cycles : 2).[0m ×2 + 1.23sINFOobjective_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 + 1.24sERRORobjective_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: 1785441964.88277721 seconds ×3 + 1.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.87sWARNobjective_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 + 1.87sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 1.87sINFOobjective_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 + 1.87sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785441965.51257563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785441965.60273051 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927053 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927053 ms (missed cycles : 3).[0m ×2 + 2.54sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 2.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785441966.17797160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785441966.19990420 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840583 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840583 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785441966.92274642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.40sINFOros2_control_node[2026-07-30 20:06:07.036] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-07-30 20:06:07.036] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454276 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454276 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597016 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597016 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638244 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638244 ms (missed cycles : 2).[0m ×2 + 6.73sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.74sINFOros2_control_node[2026-07-30 20:06:10.376] [info] Received new action goal ×2 + 6.74sINFOros2_control_node[2026-07-30 20:06:10.376] [info] Accepted new action goal ×2 + 6.74sINFOros2_control_node[2026-07-30 20:06:10.376] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.227000 ms (missed cycles : 7). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.227000 ms (missed cycles : 7).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556621 ms (missed cycles : 3). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556621 ms (missed cycles : 3).[0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936478 ms (missed cycles : 4). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936478 ms (missed cycles : 4).[0m ×2 + 9.67sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.550812 ms (missed cycles : 4). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.550812 ms (missed cycles : 4).[0m ×2 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705564 ms (missed cycles : 2). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705564 ms (missed cycles : 2).[0m ×2 + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253669 ms (missed cycles : 4). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253669 ms (missed cycles : 4).[0m ×2 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.053789 ms (missed cycles : 6). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.053789 ms (missed cycles : 6).[0m ×2 + 13.75sINFOros2_control_node[2026-07-30 20:06:17.384] [info] Got request to cancel active goal. ×2 + 13.75sINFOros2_control_node[2026-07-30 20:06:17.384] [info] Canceling active goal... ×2 + 13.76sERRORobjective_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: 1785441977.39750051 seconds ×3 + 14.36sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785441977.99957657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313745 ms (missed cycles : 3). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313745 ms (missed cycles : 3).[0m ×2 + 14.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785441978.43043470 seconds ×3 + 15.38sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785441979.01948500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.38sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.38sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 15.38sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.38sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785441979.02157116 seconds ×3 + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456643 ms (missed cycles : 6). + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456643 ms (missed cycles : 6).[0m ×2 + 16.08sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785441979.72171831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.08sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785441979.72217011 seconds ×3 + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682324 ms (missed cycles : 2). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682324 ms (missed cycles : 2).[0m ×2 + 16.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785441980.30798864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.2s | 3 errors · 63 warnings · 182 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679722 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679722 ms (missed cycles : 3).[0m ×2 + 0.40sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.42sINFOros2_control_node[2026-07-30 20:02:43.765] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-07-30 20:02:43.765] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679097 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679097 ms (missed cycles : 2).[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785441765.04238296 seconds ×3 + 1.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.70sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563555 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563555 ms (missed cycles : 2).[0m ×2 + 2.28sWARNobjective_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 + 2.28sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.28sINFOobjective_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 + 2.31sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785441765.66049695 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785441765.77064443 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785441766.40740848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381923 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381923 ms (missed cycles : 3).[0m ×2 + 3.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×4 + 3.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.16sINFOros2_control_node[2026-07-30 20:02:46.511] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-07-30 20:02:46.511] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772597 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772597 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945669 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945669 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.393335 ms (missed cycles : 6). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.393335 ms (missed cycles : 6).[0m ×2 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×4 + 6.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×8 + 6.50sINFOros2_control_node[2026-07-30 20:02:49.850] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-07-30 20:02:49.851] [info] Accepted new action goal ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452389 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452389 ms (missed cycles : 2).[0m ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.033496 ms (missed cycles : 7). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.033496 ms (missed cycles : 7).[0m ×2 + 8.81sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 8.82sINFOros2_control_node[2026-07-30 20:02:52.168] [info] Received new action goal ×2 + 8.82sINFOros2_control_node[2026-07-30 20:02:52.169] [info] Accepted new action goal ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103367 ms (missed cycles : 2). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103367 ms (missed cycles : 2).[0m ×2 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.443104 ms (missed cycles : 6). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.443104 ms (missed cycles : 6).[0m ×2 + 11.15sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 11.16sINFOros2_control_node[2026-07-30 20:02:54.509] [info] Received new action goal ×2 + 11.16sINFOros2_control_node[2026-07-30 20:02:54.509] [info] Accepted new action goal ×2 + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164363 ms (missed cycles : 5). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164363 ms (missed cycles : 5).[0m ×2 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581192 ms (missed cycles : 6). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581192 ms (missed cycles : 6).[0m ×2 + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879572 ms (missed cycles : 2). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879572 ms (missed cycles : 2).[0m ×2 + 13.49sINFOros2_control_node[2026-07-30 20:02:56.838] [info] Received new action goal ×2 + 13.49sINFOros2_control_node[2026-07-30 20:02:56.838] [info] Accepted new action goal ×2 + 13.62sINFOobjective_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 + 13.63sINFOros2_control_node[2026-07-30 20:02:56.977] [info] Got request to cancel active goal. ×2 + 13.63sINFOros2_control_node[2026-07-30 20:02:56.977] [info] Canceling active goal... ×2 + 13.64sERRORobjective_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: 1785441776.99268270 seconds ×3 + 14.35sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785441777.70228553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.53sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.55sINFOros2_control_node[2026-07-30 20:02:57.896] [info] Received new action goal ×2 + 14.55sINFOros2_control_node[2026-07-30 20:02:57.896] [info] Accepted new action goal ×2 + 14.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844218 ms (missed cycles : 4). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844218 ms (missed cycles : 4).[0m ×2 + 15.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532724 ms (missed cycles : 3). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532724 ms (missed cycles : 3).[0m ×2 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547438 ms (missed cycles : 2). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547438 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.1s | 3 errors · 75 warnings · 184 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357043 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357043 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948299 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948299 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619681 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619681 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1785441953.81196237 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.635988 ms (missed cycles : 7). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.635988 ms (missed cycles : 7).[0m ×2 + 3.28sWARNobjective_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 + 3.28sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.28sINFOobjective_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 + 3.29sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1785441954.48248601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.41sINFOros2_control_node[2026-07-30 20:05:54.607] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-07-30 20:05:54.607] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709672 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709672 ms (missed cycles : 2).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845606 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845606 ms (missed cycles : 4).[0m ×2 + 5.32sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.32sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958183 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958183 ms (missed cycles : 2).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.821681 ms (missed cycles : 5). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.821681 ms (missed cycles : 5).[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602978 ms (missed cycles : 3). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602978 ms (missed cycles : 3).[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.130160 ms (missed cycles : 4). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.130160 ms (missed cycles : 4).[0m ×2 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362061 ms (missed cycles : 3). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362061 ms (missed cycles : 3).[0m ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859278 ms (missed cycles : 3). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859278 ms (missed cycles : 3).[0m ×2 + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.541207 ms (missed cycles : 6). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.541207 ms (missed cycles : 6).[0m ×2 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892521 ms (missed cycles : 2). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892521 ms (missed cycles : 2).[0m ×2 + 13.68sINFOobjective_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 + 13.69sERRORobjective_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: 1785441964.88277721 seconds ×3 + 14.32sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 14.32sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785441965.51257563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.37sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.37sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.41sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785441965.60273051 seconds ×3 + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927053 ms (missed cycles : 3). + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927053 ms (missed cycles : 3).[0m ×2 + 14.98sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 14.98sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785441966.17797160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.01sINFOobjective_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 + 15.01sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785441966.19990420 seconds ×3 + 15.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840583 ms (missed cycles : 2). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840583 ms (missed cycles : 2).[0m ×2 + 15.73sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785441966.92274642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.83sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 15.83sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.84sINFOros2_control_node[2026-07-30 20:06:07.036] [info] Received new action goal ×2 + 15.84sINFOros2_control_node[2026-07-30 20:06:07.036] [info] Accepted new action goal ×2 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454276 ms (missed cycles : 2). + 16.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454276 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 60 warnings · 178 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757227 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757227 ms (missed cycles : 3).[0m ×2 + 0.54sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.82sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.82sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.83sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 0.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1785441785.96419764 seconds ×3 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142566 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142566 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105920 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105920 ms (missed cycles : 4).[0m ×2 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788590 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788590 ms (missed cycles : 2).[0m ×2 + 3.43sWARNobjective_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 + 3.43sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.43sINFOobjective_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 + 3.46sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1785441788.58706403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×4 + 3.65sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.66sINFOros2_control_node[2026-07-30 20:03:08.781] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-07-30 20:03:08.781] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.014888 ms (missed cycles : 8). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.014888 ms (missed cycles : 8).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033975 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033975 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022820 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022820 ms (missed cycles : 3).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618408 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618408 ms (missed cycles : 2).[0m ×2 + 8.19sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921109 ms (missed cycles : 4). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921109 ms (missed cycles : 4).[0m ×2 + 8.41sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.41sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.42sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.52sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). ×2 + 8.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.52sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 8.53sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.53sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 8.58sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 8.60sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 8.62sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 8.64sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 8.67sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 8.69sINFOobjective_server_nodeFound path in 5 iterations (0.00286302 s). ×2 + 8.72sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X____________X] ×2 + 8.74sINFOobjective_server_nodeFound path in 1 iterations (0.0020975 s). ×2 + 8.80sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_________________________X] ×2 + 8.83sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 8.89sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 9.00sINFOros2_control_node[2026-07-30 20:03:14.123] [info] Received new action goal ×2 + 9.00sINFOros2_control_node[2026-07-30 20:03:14.123] [info] Accepted new action goal ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933834 ms (missed cycles : 2). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933834 ms (missed cycles : 2).[0m ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885142 ms (missed cycles : 2). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885142 ms (missed cycles : 2).[0m ×2 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346939 ms (missed cycles : 6). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346939 ms (missed cycles : 6).[0m ×2 + 11.45sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 11.45sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.45sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 11.45sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.46sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 11.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 11.52sINFOobjective_server_nodeFound path in 5 iterations (0.00427174 s). ×2 + 11.55sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 11.62sINFOros2_control_node[2026-07-30 20:03:16.744] [info] Received new action goal ×2 + 11.62sINFOros2_control_node[2026-07-30 20:03:16.744] [info] Accepted new action goal ×2 + 12.01sINFOros2_control_node[2026-07-30 20:03:17.136] [info] Received new action goal ×2 + 12.01sINFOros2_control_node[2026-07-30 20:03:17.136] [info] Accepted new action goal ×2 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.268042 ms (missed cycles : 6). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.268042 ms (missed cycles : 6).[0m ×2 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434137 ms (missed cycles : 2). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434137 ms (missed cycles : 2).[0m ×2 + 13.85sINFOobjective_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 + 13.86sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.86sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.86sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.86sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.90sERRORobjective_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: 1785441799.02275443 seconds ×3 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628548 ms (missed cycles : 3). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628548 ms (missed cycles : 3).[0m ×2 + 14.67sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1785441799.79416251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.85sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.87sINFOros2_control_node[2026-07-30 20:03:19.987] [info] Received new action goal ×2 + 14.87sINFOros2_control_node[2026-07-30 20:03:19.987] [info] Accepted new action goal ×2 + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820464 ms (missed cycles : 2). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820464 ms (missed cycles : 2).[0m ×2 + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519757 ms (missed cycles : 2). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519757 ms (missed cycles : 2).[0m ×2 + 17.24sINFOros2_control_node[2026-07-30 20:03:22.364] [info] Received new action goal ×2 + 17.24sINFOros2_control_node[2026-07-30 20:03:22.364] [info] Accepted new action goal ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 75 warnings · 348 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 0.23sINFOros2-7process has finished cleanly [pid 9024] ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 0.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.98sWARNobjective_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 ×7 + 0.98sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.98sINFOobjective_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 ×14 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 1.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 3.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.92sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3).[0m ×2 + 6.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.44sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 6.45sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.46sINFOros2_control_node[2026-07-30 20:02:12.717] [info] Received new action goal ×2 + 6.46sINFOros2_control_node[2026-07-30 20:02:12.717] [info] Accepted new action goal ×2 + 7.05sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.090115 ms (missed cycles : 7). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.090115 ms (missed cycles : 7).[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.623237 ms (missed cycles : 7). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.623237 ms (missed cycles : 7).[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376245 ms (missed cycles : 5). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376245 ms (missed cycles : 5).[0m ×2 + 10.20sINFOros2_control_node[2026-07-30 20:02:16.453] [info] Received new action goal ×2 + 10.20sINFOros2_control_node[2026-07-30 20:02:16.453] [info] Accepted new action goal ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777960 ms (missed cycles : 2). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777960 ms (missed cycles : 2).[0m ×2 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.968296 ms (missed cycles : 7). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.968296 ms (missed cycles : 7).[0m ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742867 ms (missed cycles : 2). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742867 ms (missed cycles : 2).[0m ×2 + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039199 ms (missed cycles : 4). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039199 ms (missed cycles : 4).[0m ×2 + 13.51sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 13.51sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.53sINFOros2_control_node[2026-07-30 20:02:19.784] [info] Received new action goal ×2 + 13.53sINFOros2_control_node[2026-07-30 20:02:19.784] [info] Accepted new action goal ×2 + 14.12sINFOobjective_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 + 14.12sINFOros2_control_node[2026-07-30 20:02:20.382] [info] Got request to cancel active goal. ×2 + 14.12sINFOros2_control_node[2026-07-30 20:02:20.382] [info] Canceling active goal... ×2 + 14.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785441740.39915395 seconds ×3 + 14.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217275 ms (missed cycles : 3). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217275 ms (missed cycles : 3).[0m ×2 + 14.75sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785441741.01302314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785441741.12315822 seconds ×3 + 15.48sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785441741.74214959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539258 ms (missed cycles : 4). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539258 ms (missed cycles : 4).[0m ×2 + 15.66sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 15.66sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.67sINFOros2_control_node[2026-07-30 20:02:21.925] [info] Received new action goal ×2 + 15.67sINFOros2_control_node[2026-07-30 20:02:21.925] [info] Accepted new action goal ×2 + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501139 ms (missed cycles : 5). + 16.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501139 ms (missed cycles : 5).[0m ×2 + 17.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100055 ms (missed cycles : 4). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100055 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 3 errors · 66 warnings · 105 info |
+ 0.00sINFOros2_control_node[2026-07-30 20:05:29.308] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-07-30 20:05:29.308] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833998 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833998 ms (missed cycles : 2).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733022 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733022 ms (missed cycles : 3).[0m ×2 + 1.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.71sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.71sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.73sINFOros2_control_node[2026-07-30 20:05:31.034] [info] Received new action goal ×2 + 1.73sINFOros2_control_node[2026-07-30 20:05:31.034] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448111 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448111 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785441932.32091641 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704180 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704180 ms (missed cycles : 2).[0m ×2 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.73sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785441933.07075071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.93sINFOros2_control_node[2026-07-30 20:05:33.237] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-07-30 20:05:33.237] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852671 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852671 ms (missed cycles : 5).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257246 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257246 ms (missed cycles : 4).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050189 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050189 ms (missed cycles : 4).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617185 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617185 ms (missed cycles : 2).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035801 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035801 ms (missed cycles : 2).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711561 ms (missed cycles : 4). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711561 ms (missed cycles : 4).[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008953 ms (missed cycles : 2). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008953 ms (missed cycles : 2).[0m ×2 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625828 ms (missed cycles : 3). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625828 ms (missed cycles : 3).[0m ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182806 ms (missed cycles : 5). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182806 ms (missed cycles : 5).[0m ×2 + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303830 ms (missed cycles : 3). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303830 ms (missed cycles : 3).[0m ×2 + 14.06sINFOobjective_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 + 14.07sERRORobjective_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: 1785441943.38112879 seconds ×3 + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602461 ms (missed cycles : 2). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602461 ms (missed cycles : 2).[0m ×2 + 14.66sWARNobjective_server_nodeGetTrajectoryStateAtTime Warning: Using deprecated behavior 'GetTrajectoryStateAtTime': Renamed to GetRobotStateFromTrajectory. ×3 + 14.66sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1785441943.97404695 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.89sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 14.89sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 14.90sINFOros2_control_node[2026-07-30 20:05:44.207] [info] Received new action goal ×2 + 14.90sINFOros2_control_node[2026-07-30 20:05:44.207] [info] Accepted new action goal ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858627 ms (missed cycles : 2). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858627 ms (missed cycles : 2).[0m ×2 + 16.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648577 ms (missed cycles : 2). + 16.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648577 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 60 warnings · 165 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 0.09sINFOros2_control_node[2026-07-30 20:02:54.509] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-07-30 20:02:54.509] [info] Accepted new action goal ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164363 ms (missed cycles : 5). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164363 ms (missed cycles : 5).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581192 ms (missed cycles : 6). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581192 ms (missed cycles : 6).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879572 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879572 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 2.42sINFOros2_control_node[2026-07-30 20:02:56.838] [info] Received new action goal ×2 + 2.42sINFOros2_control_node[2026-07-30 20:02:56.838] [info] Accepted new action goal ×2 + 2.55sINFOobjective_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 + 2.56sINFOros2_control_node[2026-07-30 20:02:56.977] [info] Got request to cancel active goal. ×2 + 2.56sINFOros2_control_node[2026-07-30 20:02:56.977] [info] Canceling active goal... ×2 + 2.57sERRORobjective_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: 1785441776.99268270 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.25sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.25sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.25sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 3.28sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785441777.70228553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.48sINFOros2_control_node[2026-07-30 20:02:57.896] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-07-30 20:02:57.896] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844218 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844218 ms (missed cycles : 4).[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532724 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532724 ms (missed cycles : 3).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547438 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547438 ms (missed cycles : 2).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.797245 ms (missed cycles : 4). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.797245 ms (missed cycles : 4).[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698387 ms (missed cycles : 2). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698387 ms (missed cycles : 2).[0m ×2 + 8.34sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.34sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.35sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.62sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 8.62sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). ×6 + 8.63sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.66sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 8.67sINFOobjective_server_nodeFound path in 0 iterations (2.09e-07 s). ×4 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918340 ms (missed cycles : 2). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918340 ms (missed cycles : 2).[0m ×2 + 8.71sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 8.73sINFOobjective_server_nodeFound path in 5 iterations (0.00308195 s). ×2 + 8.76sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X____________X] ×2 + 8.78sINFOobjective_server_nodeFound path in 1 iterations (0.00227315 s). ×2 + 8.84sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_________________________X] ×2 + 8.90sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 8.97sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 9.07sINFOros2_control_node[2026-07-30 20:03:03.488] [info] Received new action goal ×2 + 9.07sINFOros2_control_node[2026-07-30 20:03:03.488] [info] Accepted new action goal ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204541 ms (missed cycles : 4). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204541 ms (missed cycles : 4).[0m ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757227 ms (missed cycles : 3). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757227 ms (missed cycles : 3).[0m ×2 + 11.25sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.53sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.53sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.53sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 11.55sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1785441785.96419764 seconds ×3 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142566 ms (missed cycles : 2). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142566 ms (missed cycles : 2).[0m ×2 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105920 ms (missed cycles : 4). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105920 ms (missed cycles : 4).[0m ×2 + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788590 ms (missed cycles : 2). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788590 ms (missed cycles : 2).[0m ×2 + 14.17sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1785441788.58706403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.36sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 14.36sINFOros2_control_node[2026-07-30 20:03:08.781] [info] Received new action goal ×2 + 14.36sINFOros2_control_node[2026-07-30 20:03:08.781] [info] Accepted new action goal ×2 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.014888 ms (missed cycles : 8). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.014888 ms (missed cycles : 8).[0m ×2 + 15.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033975 ms (missed cycles : 2). + 15.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033975 ms (missed cycles : 2).[0m ×2 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022820 ms (missed cycles : 3). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022820 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 65 warnings · 143 info |
+ 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155512 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330493 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330493 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464545 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464545 ms (missed cycles : 3).[0m ×2 + 2.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304916 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304916 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785441921.61362362 seconds ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.53sINFOros2_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_admittance_controller robotiq_gripper_controller ] ×2 + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139161 ms (missed cycles : 5). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139161 ms (missed cycles : 5).[0m ×2 + 4.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.10sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 4.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785441922.32004952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.44sINFOros2_control_node[2026-07-30 20:05:22.524] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-07-30 20:05:22.524] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004014 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004014 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092150 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092150 ms (missed cycles : 2).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.507765 ms (missed cycles : 9). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.507765 ms (missed cycles : 9).[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.843301 ms (missed cycles : 5). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.843301 ms (missed cycles : 5).[0m ×2 + 8.56sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.56sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.56sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.83sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 8.83sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.83sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). ×4 + 8.83sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.87sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 8.88sINFOobjective_server_nodeFound path in 5 iterations (0.00337631 s). ×2 + 8.92sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 8.96sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.99sINFOros2_control_node[2026-07-30 20:05:27.087] [info] Received new action goal ×2 + 8.99sINFOros2_control_node[2026-07-30 20:05:27.087] [info] Accepted new action goal ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772314 ms (missed cycles : 2). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772314 ms (missed cycles : 2).[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094410 ms (missed cycles : 3). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094410 ms (missed cycles : 3).[0m ×2 + 11.21sINFOros2_control_node[2026-07-30 20:05:29.308] [info] Received new action goal ×2 + 11.21sINFOros2_control_node[2026-07-30 20:05:29.308] [info] Accepted new action goal ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833998 ms (missed cycles : 2). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833998 ms (missed cycles : 2).[0m ×2 + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733022 ms (missed cycles : 3). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733022 ms (missed cycles : 3).[0m ×2 + 12.92sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 12.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.94sINFOros2_control_node[2026-07-30 20:05:31.034] [info] Received new action goal ×2 + 12.94sINFOros2_control_node[2026-07-30 20:05:31.034] [info] Accepted new action goal ×2 + 13.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448111 ms (missed cycles : 2). + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448111 ms (missed cycles : 2).[0m ×2 + 14.23sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785441932.32091641 seconds ×3 + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704180 ms (missed cycles : 2). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704180 ms (missed cycles : 2).[0m ×2 + 14.98sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785441933.07075071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.13sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 15.14sINFOros2_control_node[2026-07-30 20:05:33.237] [info] Received new action goal ×2 + 15.14sINFOros2_control_node[2026-07-30 20:05:33.237] [info] Accepted new action goal ×2 + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852671 ms (missed cycles : 5). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852671 ms (missed cycles : 5).[0m ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257246 ms (missed cycles : 4). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257246 ms (missed cycles : 4).[0m ×2 + 17.05sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050189 ms (missed cycles : 4). + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050189 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.4s | 3 errors · 63 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008953 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008953 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625828 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625828 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182806 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182806 ms (missed cycles : 5).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303830 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303830 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_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 + 3.54sERRORobjective_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: 1785441943.38112879 seconds ×3 + 3.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602461 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602461 ms (missed cycles : 2).[0m ×2 + 4.13sWARNobjective_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 + 4.13sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.13sINFOobjective_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 + 4.13sWARNobjective_server_nodeGetTrajectoryStateAtTime Warning: Using deprecated behavior 'GetTrajectoryStateAtTime': Renamed to GetRobotStateFromTrajectory. ×3 + 4.13sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1785441943.97404695 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.37sINFOros2_control_node[2026-07-30 20:05:44.207] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-07-30 20:05:44.207] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858627 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858627 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648577 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648577 ms (missed cycles : 2).[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842813 ms (missed cycles : 4). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842813 ms (missed cycles : 4).[0m ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464392 ms (missed cycles : 3). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464392 ms (missed cycles : 3).[0m ×2 + 8.38sINFOros2_control_node[2026-07-30 20:05:48.225] [info] Received new action goal ×2 + 8.39sINFOros2_control_node[2026-07-30 20:05:48.225] [info] Accepted new action goal ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.981381 ms (missed cycles : 5). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.981381 ms (missed cycles : 5).[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031032 ms (missed cycles : 2). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031032 ms (missed cycles : 2).[0m ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357043 ms (missed cycles : 3). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357043 ms (missed cycles : 3).[0m ×2 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948299 ms (missed cycles : 5). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948299 ms (missed cycles : 5).[0m ×2 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619681 ms (missed cycles : 2). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619681 ms (missed cycles : 2).[0m ×2 + 13.97sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1785441953.81196237 seconds ×3 + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.635988 ms (missed cycles : 7). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.635988 ms (missed cycles : 7).[0m ×2 + 14.64sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1785441954.48248601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.75sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 14.75sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.77sINFOros2_control_node[2026-07-30 20:05:54.607] [info] Received new action goal ×2 + 14.77sINFOros2_control_node[2026-07-30 20:05:54.607] [info] Accepted new action goal ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709672 ms (missed cycles : 2). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709672 ms (missed cycles : 2).[0m ×2 + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845606 ms (missed cycles : 4). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845606 ms (missed cycles : 4).[0m ×2 + 16.67sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 16.67sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 3.9s | 39 warnings · 130 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.01sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785441812.46894336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.13sINFOros2_control_node[2026-07-30 20:03:32.591] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-07-30 20:03:32.591] [info] Accepted new action goal ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.119540 ms (missed cycles : 7). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.119540 ms (missed cycles : 7).[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332413 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332413 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785441814.59313321 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842454 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842454 ms (missed cycles : 2).[0m ×2 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.794034 ms (missed cycles : 8). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.794034 ms (missed cycles : 8).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785441816.18147135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_node[2026-07-30 20:03:36.558] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027627 ms (missed cycles : 4). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027627 ms (missed cycles : 4).[0m ×2 + 4.67sINFOobjective_server_node[0;93m2026-07-30 20:03:37.130308656 [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 + 4.67sINFOobjective_server_node[0;93m2026-07-30 20:03:37.130347687 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 4.80sINFOobjective_server_node[2026-07-30 20:03:37.260] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.21sINFOobjective_server_node[0;93m2026-07-30 20:03:37.669231081 [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 + 5.21sINFOobjective_server_node[0;93m2026-07-30 20:03:37.669263822 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.29sINFOobjective_server_node[2026-07-30 20:03:37.747] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.32sINFOobjective_server_node[0;93m2026-07-30 20:03:37.782802945 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 5.32sINFOobjective_server_node[0;93m2026-07-30 20:03:37.785082983 [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 + 5.32sINFOobjective_server_node[0;93m2026-07-30 20:03:37.785112473 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.34sINFOobjective_server_node[2026-07-30 20:03:37.799] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.63sINFOobjective_server_node[0;93m2026-07-30 20:03:38.087456305 [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 + 5.64sINFOobjective_server_node[0;93m2026-07-30 20:03:38.106286428 [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 + 5.64sINFOobjective_server_node[0;93m2026-07-30 20:03:38.106324029 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280829 ms (missed cycles : 4). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280829 ms (missed cycles : 4).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412638 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412638 ms (missed cycles : 3).[0m ×2 + 7.07sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785441819.53030443 seconds ×3 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563840 ms (missed cycles : 2). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563840 ms (missed cycles : 2).[0m ×2 + 7.77sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785441820.23583484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.85sINFOobjective_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 + 7.86sINFOobjective_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 + 8.13sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 8.13sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 8.17sINFOros2_control_node[2026-07-30 20:03:40.632] [info] Received new action goal ×2 + 8.17sINFOros2_control_node[2026-07-30 20:03:40.632] [info] Accepted new action goal ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114795 ms (missed cycles : 2). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114795 ms (missed cycles : 2).[0m ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713076 ms (missed cycles : 2). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713076 ms (missed cycles : 2).[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 3.731043 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731043 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690163 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690163 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705324 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705324 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785441810.93792367 seconds ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.74sWARNobjective_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 + 2.74sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 2.74sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785441811.59157419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.83sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785441811.69177246 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398831 ms (missed cycles : 5). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398831 ms (missed cycles : 5).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785441812.46894336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.74sINFOros2_control_node[2026-07-30 20:03:32.591] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-07-30 20:03:32.591] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.119540 ms (missed cycles : 7). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.119540 ms (missed cycles : 7).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332413 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332413 ms (missed cycles : 3).[0m ×2 + 5.74sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785441814.59313321 seconds ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842454 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842454 ms (missed cycles : 2).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.794034 ms (missed cycles : 8). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.794034 ms (missed cycles : 8).[0m ×2 + 7.33sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785441816.18147135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.71sINFOobjective_server_node[2026-07-30 20:03:36.558] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027627 ms (missed cycles : 4). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027627 ms (missed cycles : 4).[0m ×2 + 8.28sINFOobjective_server_node[0;93m2026-07-30 20:03:37.130308656 [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 + 8.28sINFOobjective_server_node[0;93m2026-07-30 20:03:37.130347687 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.41sINFOobjective_server_node[2026-07-30 20:03:37.260] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.82sINFOobjective_server_node[0;93m2026-07-30 20:03:37.669231081 [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 + 8.82sINFOobjective_server_node[0;93m2026-07-30 20:03:37.669263822 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.90sINFOobjective_server_node[2026-07-30 20:03:37.747] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.93sINFOobjective_server_node[0;93m2026-07-30 20:03:37.782802945 [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 + 8.93sINFOobjective_server_node[0;93m2026-07-30 20:03:37.785082983 [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 + 8.93sINFOobjective_server_node[0;93m2026-07-30 20:03:37.785112473 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.95sINFOobjective_server_node[2026-07-30 20:03:37.799] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.24sINFOobjective_server_node[0;93m2026-07-30 20:03:38.087456305 [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 + 9.25sINFOobjective_server_node[0;93m2026-07-30 20:03:38.106286428 [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 + 9.26sINFOobjective_server_node[0;93m2026-07-30 20:03:38.106324029 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280829 ms (missed cycles : 4). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280829 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 3.5s | 21 errors · 39 warnings · 233 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.636527 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.636527 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962278 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962278 ms (missed cycles : 3).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604628 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604628 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785441873.31763148 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603421 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603421 ms (missed cycles : 3).[0m ×2 + 3.18sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 3.18sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.18sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 3.19sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785441873.95335031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×4 + 3.35sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.36sINFOros2_control_node[2026-07-30 20:04:34.126] [info] Received new action goal ×2 + 3.36sINFOros2_control_node[2026-07-30 20:04:34.126] [info] Accepted new action goal ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.970001 ms (missed cycles : 5). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.970001 ms (missed cycles : 5).[0m ×2 + 4.63sINFOobjective_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 + 4.63sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.68sINFOobjective_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 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.98sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 4.99sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815617 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815617 ms (missed cycles : 2).[0m ×2 + 6.01sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785441876.77512503 seconds ×3 + 6.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 6.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 6.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 6.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 6.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 6.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.228708 ms (missed cycles : 7). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.228708 ms (missed cycles : 7).[0m ×2 + 6.64sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785441877.40257120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.69sINFOobjective_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 + 6.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 6.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 6.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 6.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 6.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 6.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 6.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.78sINFOros2_control_node[2026-07-30 20:04:37.546] [info] Received new action goal ×2 + 6.78sINFOros2_control_node[2026-07-30 20:04:37.546] [info] Accepted new action goal ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419211 ms (missed cycles : 4). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419211 ms (missed cycles : 4).[0m ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157337 ms (missed cycles : 3). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157337 ms (missed cycles : 3).[0m ×2 + 8.35sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785441879.12017965 seconds ×3 + 9.00sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785441879.76895642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 9.16sINFOros2_control_node[2026-07-30 20:04:39.924] [info] Received new action goal ×2 + 9.16sINFOros2_control_node[2026-07-30 20:04:39.924] [info] Accepted new action goal ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.384188 ms (missed cycles : 11). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.384188 ms (missed cycles : 11).[0m ×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 · 36 warnings · 233 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785441873.31763148 seconds ×3 + 0.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.06sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603421 ms (missed cycles : 3). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603421 ms (missed cycles : 3).[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: 1785441873.95335031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 0.80sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×4 + 0.80sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 0.81sINFOros2_control_node[2026-07-30 20:04:34.126] [info] Received new action goal ×2 + 0.81sINFOros2_control_node[2026-07-30 20:04:34.126] [info] Accepted new action goal ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.970001 ms (missed cycles : 5). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.970001 ms (missed cycles : 5).[0m ×2 + 2.08sINFOobjective_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 + 2.08sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.13sINFOobjective_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 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.43sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 2.44sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815617 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815617 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785441876.77512503 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.228708 ms (missed cycles : 7). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.228708 ms (missed cycles : 7).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785441877.40257120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_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 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.23sINFOros2_control_node[2026-07-30 20:04:37.546] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-07-30 20:04:37.546] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419211 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419211 ms (missed cycles : 4).[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157337 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157337 ms (missed cycles : 3).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785441879.12017965 seconds ×3 + 6.45sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785441879.76895642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 6.61sINFOros2_control_node[2026-07-30 20:04:39.924] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-07-30 20:04:39.924] [info] Accepted new action goal ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.384188 ms (missed cycles : 11). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.384188 ms (missed cycles : 11).[0m ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581539 ms (missed cycles : 3). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581539 ms (missed cycles : 3).[0m ×2 + 8.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096403 ms (missed cycles : 2). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096403 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.6s | 61 warnings · 618 info |
+ 0.00sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 0.00sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 0.00sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 0.00sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985189 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985189 ms (missed cycles : 2).[0m ×2 + 0.01sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 0.19sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 0.23sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 0.23sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.23sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.23sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.24sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.24sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.24sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.28sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.34sINFOmove_group ×4 + 0.34sINFOmove_group[92mYou can start planning now![0m ×2 + 0.39sINFOwaypoint_manager_node[2026-07-30 20:02:02.309] [moveit_pro_license] [info] ×2 + 0.39sINFOwaypoint_manager_node************************************************* ×4 + 0.39sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 0.39sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.46sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 0.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.85sINFOobjective_server_node[2026-07-30 20:02:02.769] [moveit_pro_license] [info] ×2 + 0.85sINFOobjective_server_node************************************************* ×4 + 0.85sINFOobjective_server_node* MoveIt Pro License ×2 + 0.85sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.94sINFOobjective_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 + 0.94sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.95sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.95sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.95sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.95sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.95sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.95sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.95sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.95sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 1.25sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 1.25sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 1.36sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 1.36sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 1.36sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 1.36sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 1.36sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 1.36sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 1.36sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 1.36sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 1.36sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 1.36sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 1.37sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 1.37sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 1.37sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 1.37sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 1.40sINFOcomponent_container_mt[2026-07-30 20:02:03.320] [moveit_pro_license] [info] ×2 + 1.40sINFOcomponent_container_mt************************************************* ×4 + 1.40sINFOcomponent_container_mt* MoveIt Pro License ×2 + 1.40sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 1.52sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.52sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.52sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.52sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.52sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 1.52sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 1.53sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.53sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.53sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.53sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.53sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.53sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.53sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×21 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991945 ms (missed cycles : 3). + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991945 ms (missed cycles : 3).[0m ×2 + 1.54sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.54sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.84sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.84sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.84sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.84sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.86sWARNobjective_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 + 1.87sINFOros2-3process has finished cleanly [pid 9020] ×2 + 1.94sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 1.94sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 2.00sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.00sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.00sINFOros2_control_node[2026-07-30 20:02:03.918] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.00sINFOros2_control_node[2026-07-30 20:02:03.918] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 2.03sINFOros2_control_node[2026-07-30 20:02:03.949] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.03sINFOros2_control_node[2026-07-30 20:02:03.950] [info] Controller state will be published at 50 Hz. ×2 + 2.04sINFOros2_control_node[2026-07-30 20:02:03.956] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.27sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 2.27sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 2.32sINFOros2-6process has finished cleanly [pid 9023] ×2 + 2.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.33sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.33sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.33sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.33sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.33sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.34sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.34sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.34sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.34sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.34sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.34sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.34sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.35sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.35sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.38sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.66sINFOros2-5process has finished cleanly [pid 9022] ×2 + 2.67sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.93sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.93sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.93sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.93sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.93sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 2.93sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 2.94sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.94sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.94sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.94sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.94sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.94sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.94sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 2.95sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.95sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.95sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.95sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.95sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.96sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.96sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 3.06sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×7 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571846 ms (missed cycles : 3). + 3.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441724.98810887 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 3.07sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×14 + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571846 ms (missed cycles : 3).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441724.99843431 seconds ×3 + 3.25sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 3.25sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.25sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 3.26sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 3.27sINFOros2-4process has finished cleanly [pid 9021] ×2 + 3.31sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 3.31sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 3.35sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.35sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 3.35sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 3.35sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 3.38sINFOros2_control_node[2026-07-30 20:02:05.294] [info] Controller state will be published at 20 Hz. ×2 + 3.38sINFOros2_control_node[2026-07-30 20:02:05.295] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441725.58319139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.73sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 3.73sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.73sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 3.73sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.73sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 3.73sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 3.76sINFOros2-8process has finished cleanly [pid 9025] ×2 + 3.78sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.78sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.78sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 3.78sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 3.78sINFOforce_torque_sensor_broadcasterconfigure successful + 3.78sINFOros2_control_nodeconfigure successful[0m ×2 + 3.79sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 3.79sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 3.79sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.79sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.08sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.08sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.08sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.08sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.12sINFOros2-2process has finished cleanly [pid 9019] ×2 + 4.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 4.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 4.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 4.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 4.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 4.20sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 4.21sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 4.57sINFOros2-7process has finished cleanly [pid 9024] ×2 + 4.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 5.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 6.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 7.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 8.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.15sINFOobjective_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 + 8.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.24sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 8.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.26sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 8.26sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.0s | 3 errors · 39 warnings · 142 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.550812 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.550812 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705564 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705564 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253669 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253669 ms (missed cycles : 4).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.053789 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.053789 ms (missed cycles : 6).[0m ×2 + 3.37sINFOobjective_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 + 3.38sINFOros2_control_node[2026-07-30 20:06:17.384] [info] Got request to cancel active goal. ×2 + 3.38sINFOros2_control_node[2026-07-30 20:06:17.384] [info] Canceling active goal... ×2 + 3.39sERRORobjective_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: 1785441977.39750051 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 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 ×4 + 3.99sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.99sINFOobjective_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 + 4.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785441977.99957657 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 4.313745 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313745 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785441978.43043470 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785441979.01948500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.02sINFOobjective_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 + 5.02sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.02sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785441979.02157116 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456643 ms (missed cycles : 6). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456643 ms (missed cycles : 6).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785441979.72171831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785441979.72217011 seconds ×3 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682324 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682324 ms (missed cycles : 2).[0m ×2 + 6.30sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785441980.30798864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537563 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537563 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 30 warnings · 91 info |
+ 0.00sINFOros2_control_node[2026-07-30 20:02:42.052] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-07-30 20:02:42.052] [info] Accepted new action goal ×2 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.733243 ms (missed cycles : 5). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.733243 ms (missed cycles : 5).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679722 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679722 ms (missed cycles : 3).[0m ×2 + 1.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.70sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.71sINFOros2_control_node[2026-07-30 20:02:43.765] [info] Received new action goal ×2 + 1.71sINFOros2_control_node[2026-07-30 20:02:43.765] [info] Accepted new action goal ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679097 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679097 ms (missed cycles : 2).[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785441765.04238296 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563555 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563555 ms (missed cycles : 2).[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 ×2 + 3.58sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 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 ×4 + 3.61sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785441765.66049695 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785441765.77064443 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785441766.40740848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381923 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381923 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.46sINFOros2_control_node[2026-07-30 20:02:46.511] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-07-30 20:02:46.511] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772597 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772597 ms (missed cycles : 5).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945669 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945669 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 30 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.968296 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.968296 ms (missed cycles : 7).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742867 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742867 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039199 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039199 ms (missed cycles : 4).[0m ×2 + 2.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.11sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 2.11sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.13sINFOros2_control_node[2026-07-30 20:02:19.784] [info] Received new action goal ×2 + 2.13sINFOros2_control_node[2026-07-30 20:02:19.784] [info] Accepted new action goal ×2 + 2.72sINFOobjective_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 + 2.72sINFOros2_control_node[2026-07-30 20:02:20.382] [info] Got request to cancel active goal. ×2 + 2.72sINFOros2_control_node[2026-07-30 20:02:20.382] [info] Canceling active goal... ×2 + 2.74sERRORobjective_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: 1785441740.39915395 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217275 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217275 ms (missed cycles : 3).[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 + 3.35sINFOobjective_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 `Add Table to Planning Scene` starting at time: 1785441741.01302314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785441741.12315822 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785441741.74214959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539258 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539258 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.27sINFOros2_control_node[2026-07-30 20:02:21.925] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-07-30 20:02:21.925] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501139 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501139 ms (missed cycles : 5).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100055 ms (missed cycles : 4). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100055 ms (missed cycles : 4).[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998965 ms (missed cycles : 2). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998965 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 42 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362061 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362061 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859278 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859278 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.541207 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.541207 ms (missed cycles : 6).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892521 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892521 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_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 + 3.34sERRORobjective_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: 1785441964.88277721 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.97sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 3.97sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.97sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 3.97sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785441965.51257563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.03sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785441965.60273051 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927053 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927053 ms (missed cycles : 3).[0m ×2 + 4.64sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 4.64sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785441966.17797160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_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 + 4.66sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785441966.19990420 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840583 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840583 ms (missed cycles : 2).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785441966.92274642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.49sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 5.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.50sINFOros2_control_node[2026-07-30 20:06:07.036] [info] Received new action goal ×2 + 5.50sINFOros2_control_node[2026-07-30 20:06:07.036] [info] Accepted new action goal ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454276 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454276 ms (missed cycles : 2).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597016 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597016 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.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 5.253669 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253669 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.053789 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.053789 ms (missed cycles : 6).[0m ×2 + 1.32sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOros2_control_node[2026-07-30 20:06:17.384] [info] Got request to cancel active goal. ×2 + 1.33sINFOros2_control_node[2026-07-30 20:06:17.384] [info] Canceling active goal... ×2 + 1.34sERRORobjective_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: 1785441977.39750051 seconds ×3 + 1.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.93sWARNobjective_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 + 1.94sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.94sINFOobjective_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 + 1.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785441977.99957657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313745 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313745 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785441978.43043470 seconds ×3 + 2.96sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785441979.01948500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.97sINFOobjective_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 + 2.97sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785441979.02157116 seconds ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456643 ms (missed cycles : 6). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456643 ms (missed cycles : 6).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785441979.72171831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785441979.72217011 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682324 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682324 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785441980.30798864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537563 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537563 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.610942 ms (missed cycles : 8). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.610942 ms (missed cycles : 8).[0m ×2 + 6.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785441982.53824735 seconds ×3 + 6.53sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 30 warnings · 104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279328 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279328 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731043 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731043 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690163 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690163 ms (missed cycles : 3).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705324 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705324 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785441810.93792367 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.74sWARNobjective_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 + 3.74sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 3.74sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785441811.59157419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.83sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785441811.69177246 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398831 ms (missed cycles : 5). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398831 ms (missed cycles : 5).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785441812.46894336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.74sINFOros2_control_node[2026-07-30 20:03:32.591] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-07-30 20:03:32.591] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.119540 ms (missed cycles : 7). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.119540 ms (missed cycles : 7).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332413 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332413 ms (missed cycles : 3).[0m ×2 + 6.74sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785441814.59313321 seconds ×3 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842454 ms (missed cycles : 2). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842454 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 50 warnings · 471 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.02sWARNobjective_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 + 0.03sINFOros2-3process has finished cleanly [pid 9020] ×2 + 0.10sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.10sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.16sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.16sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.16sINFOros2_control_node[2026-07-30 20:02:03.918] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.16sINFOros2_control_node[2026-07-30 20:02:03.918] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.19sINFOros2_control_node[2026-07-30 20:02:03.949] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.19sINFOros2_control_node[2026-07-30 20:02:03.950] [info] Controller state will be published at 50 Hz. ×2 + 0.20sINFOros2_control_node[2026-07-30 20:02:03.956] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.43sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.43sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.43sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.43sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.43sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.48sINFOros2-6process has finished cleanly [pid 9023] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.49sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.49sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.49sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.50sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.50sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.50sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.50sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.50sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.50sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.51sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.51sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.54sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.82sINFOros2-5process has finished cleanly [pid 9022] ×2 + 0.83sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.83sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.09sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 1.09sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 1.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.11sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.11sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.11sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.11sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.22sWARNobjective_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 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571846 ms (missed cycles : 3). + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441724.98810887 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 1.23sINFOobjective_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 + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571846 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441724.99843431 seconds ×3 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.43sINFOros2-4process has finished cleanly [pid 9021] ×2 + 1.47sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 1.47sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 1.51sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.51sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.51sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.51sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.53sINFOros2_control_node[2026-07-30 20:02:05.294] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-07-30 20:02:05.295] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.82sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441725.58319139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.89sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.89sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.89sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.89sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.89sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 1.89sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 1.92sINFOros2-8process has finished cleanly [pid 9025] ×2 + 1.94sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.94sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.94sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.94sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.94sINFOforce_torque_sensor_broadcasterconfigure successful + 1.94sINFOros2_control_nodeconfigure successful[0m ×2 + 1.95sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.95sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.95sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.95sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.24sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.24sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.24sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.24sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.28sINFOros2-2process has finished cleanly [pid 9019] ×2 + 2.29sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 2.29sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 2.34sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.34sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.34sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.34sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.36sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 2.36sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 2.73sINFOros2-7process has finished cleanly [pid 9024] ×2 + 2.88sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 5.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 6.30sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sINFOobjective_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 + 6.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.40sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.42sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 39 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859278 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859278 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.541207 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.541207 ms (missed cycles : 6).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892521 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892521 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_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 + 2.34sERRORobjective_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: 1785441964.88277721 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.96sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 2.96sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.96sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 2.97sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785441965.51257563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.02sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785441965.60273051 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927053 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927053 ms (missed cycles : 3).[0m ×2 + 3.63sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 3.63sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785441966.17797160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_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 + 3.65sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785441966.19990420 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840583 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840583 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785441966.92274642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.49sINFOros2_control_node[2026-07-30 20:06:07.036] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-07-30 20:06:07.036] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454276 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454276 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597016 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597016 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 39 warnings · 142 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705564 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705564 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253669 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253669 ms (missed cycles : 4).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.053789 ms (missed cycles : 6). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.053789 ms (missed cycles : 6).[0m ×2 + 2.32sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOros2_control_node[2026-07-30 20:06:17.384] [info] Got request to cancel active goal. ×2 + 2.34sINFOros2_control_node[2026-07-30 20:06:17.384] [info] Canceling active goal... ×2 + 2.35sERRORobjective_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: 1785441977.39750051 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.94sWARNobjective_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 + 2.94sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.94sINFOobjective_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 + 2.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785441977.99957657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313745 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313745 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785441978.43043470 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785441979.01948500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.97sINFOobjective_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 + 3.97sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785441979.02157116 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456643 ms (missed cycles : 6). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456643 ms (missed cycles : 6).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785441979.72171831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785441979.72217011 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682324 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682324 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785441980.30798864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537563 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537563 ms (missed cycles : 2).[0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.610942 ms (missed cycles : 8). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.610942 ms (missed cycles : 8).[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 4.279328 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279328 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731043 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731043 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690163 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690163 ms (missed cycles : 3).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705324 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705324 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785441810.93792367 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.74sWARNobjective_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 + 3.74sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 3.74sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785441811.59157419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.83sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785441811.69177246 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398831 ms (missed cycles : 5). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398831 ms (missed cycles : 5).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785441812.46894336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.74sINFOros2_control_node[2026-07-30 20:03:32.591] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-07-30 20:03:32.591] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.119540 ms (missed cycles : 7). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.119540 ms (missed cycles : 7).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332413 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332413 ms (missed cycles : 3).[0m ×2 + 6.74sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785441814.59313321 seconds ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.1s | 30 warnings · 61 info |
+ 0.00sINFOros2_control_node[2026-07-30 20:05:29.308] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-07-30 20:05:29.308] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833998 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833998 ms (missed cycles : 2).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733022 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733022 ms (missed cycles : 3).[0m ×2 + 1.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.71sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.71sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.73sINFOros2_control_node[2026-07-30 20:05:31.034] [info] Received new action goal ×2 + 1.73sINFOros2_control_node[2026-07-30 20:05:31.034] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448111 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448111 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785441932.32091641 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704180 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704180 ms (missed cycles : 2).[0m ×2 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.73sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.73sINFOobjective_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 `Plan and Save Trajectory` starting at time: 1785441933.07075071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.93sINFOros2_control_node[2026-07-30 20:05:33.237] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-07-30 20:05:33.237] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852671 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852671 ms (missed cycles : 5).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257246 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257246 ms (missed cycles : 4).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050189 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050189 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 27 warnings · 86 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.794034 ms (missed cycles : 8). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.794034 ms (missed cycles : 8).[0m ×2 + 0.08sWARNobjective_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 + 0.08sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 0.08sINFOobjective_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 + 0.08sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785441816.18147135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOobjective_server_node[2026-07-30 20:03:36.558] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027627 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027627 ms (missed cycles : 4).[0m ×2 + 1.03sINFOobjective_server_node[0;93m2026-07-30 20:03:37.130308656 [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 + 1.03sINFOobjective_server_node[0;93m2026-07-30 20:03:37.130347687 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.16sINFOobjective_server_node[2026-07-30 20:03:37.260] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.57sINFOobjective_server_node[0;93m2026-07-30 20:03:37.669231081 [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 + 1.57sINFOobjective_server_node[0;93m2026-07-30 20:03:37.669263822 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.65sINFOobjective_server_node[2026-07-30 20:03:37.747] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.68sINFOobjective_server_node[0;93m2026-07-30 20:03:37.782802945 [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 + 1.69sINFOobjective_server_node[0;93m2026-07-30 20:03:37.785082983 [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 + 1.69sINFOobjective_server_node[0;93m2026-07-30 20:03:37.785112473 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.70sINFOobjective_server_node[2026-07-30 20:03:37.799] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.99sINFOobjective_server_node[0;93m2026-07-30 20:03:38.087456305 [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 + 2.01sINFOobjective_server_node[0;93m2026-07-30 20:03:38.106286428 [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 + 2.01sINFOobjective_server_node[0;93m2026-07-30 20:03:38.106324029 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280829 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280829 ms (missed cycles : 4).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412638 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412638 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785441819.53030443 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563840 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563840 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785441820.23583484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sINFOobjective_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 + 4.23sINFOobjective_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 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.53sINFOros2_control_node[2026-07-30 20:03:40.632] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-07-30 20:03:40.632] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114795 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114795 ms (missed cycles : 2).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713076 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713076 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 30 warnings · 61 info |
+ 0.00sINFOros2_control_node[2026-07-30 20:05:29.308] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-07-30 20:05:29.308] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833998 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833998 ms (missed cycles : 2).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733022 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733022 ms (missed cycles : 3).[0m ×2 + 1.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.71sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.71sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.73sINFOros2_control_node[2026-07-30 20:05:31.034] [info] Received new action goal ×2 + 1.73sINFOros2_control_node[2026-07-30 20:05:31.034] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448111 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448111 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785441932.32091641 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704180 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704180 ms (missed cycles : 2).[0m ×2 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.73sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.73sINFOobjective_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 `Plan and Save Trajectory` starting at time: 1785441933.07075071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.93sINFOros2_control_node[2026-07-30 20:05:33.237] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-07-30 20:05:33.237] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852671 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852671 ms (missed cycles : 5).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257246 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257246 ms (missed cycles : 4).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050189 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050189 ms (missed cycles : 4).[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 1.742867 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742867 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039199 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039199 ms (missed cycles : 4).[0m ×2 + 1.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.11sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 1.11sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.13sINFOros2_control_node[2026-07-30 20:02:19.784] [info] Received new action goal ×2 + 1.13sINFOros2_control_node[2026-07-30 20:02:19.784] [info] Accepted new action goal ×2 + 1.72sINFOobjective_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 + 1.72sINFOros2_control_node[2026-07-30 20:02:20.382] [info] Got request to cancel active goal. ×2 + 1.72sINFOros2_control_node[2026-07-30 20:02:20.382] [info] Canceling active goal... ×2 + 1.74sERRORobjective_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: 1785441740.39915395 seconds ×3 + 1.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217275 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217275 ms (missed cycles : 3).[0m ×2 + 2.35sWARNobjective_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 + 2.35sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.35sINFOobjective_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 + 2.35sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785441741.01302314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785441741.12315822 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785441741.74214959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539258 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539258 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.27sINFOros2_control_node[2026-07-30 20:02:21.925] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-07-30 20:02:21.925] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501139 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501139 ms (missed cycles : 5).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100055 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100055 ms (missed cycles : 4).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998965 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998965 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 27 warnings · 87 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679722 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679722 ms (missed cycles : 3).[0m ×2 + 0.40sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.42sINFOros2_control_node[2026-07-30 20:02:43.765] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-07-30 20:02:43.765] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679097 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679097 ms (missed cycles : 2).[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785441765.04238296 seconds ×3 + 1.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563555 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563555 ms (missed cycles : 2).[0m ×2 + 2.28sWARNobjective_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 + 2.28sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.28sINFOobjective_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 + 2.31sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785441765.66049695 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785441765.77064443 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785441766.40740848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381923 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381923 ms (missed cycles : 3).[0m ×2 + 3.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.16sINFOros2_control_node[2026-07-30 20:02:46.511] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-07-30 20:02:46.511] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772597 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772597 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945669 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945669 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 21 warnings · 73 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.09sINFOros2_control_node[2026-07-30 20:02:54.509] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-07-30 20:02:54.509] [info] Accepted new action goal ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164363 ms (missed cycles : 5). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164363 ms (missed cycles : 5).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581192 ms (missed cycles : 6). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581192 ms (missed cycles : 6).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879572 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879572 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 2.42sINFOros2_control_node[2026-07-30 20:02:56.838] [info] Received new action goal ×2 + 2.42sINFOros2_control_node[2026-07-30 20:02:56.838] [info] Accepted new action goal ×2 + 2.55sINFOobjective_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 + 2.56sINFOros2_control_node[2026-07-30 20:02:56.977] [info] Got request to cancel active goal. ×2 + 2.56sINFOros2_control_node[2026-07-30 20:02:56.977] [info] Canceling active goal... ×2 + 2.57sERRORobjective_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: 1785441776.99268270 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.25sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.25sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.28sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785441777.70228553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.48sINFOros2_control_node[2026-07-30 20:02:57.896] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-07-30 20:02:57.896] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844218 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844218 ms (missed cycles : 4).[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532724 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532724 ms (missed cycles : 3).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547438 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547438 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 27 warnings · 86 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.794034 ms (missed cycles : 8). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.794034 ms (missed cycles : 8).[0m ×2 + 0.08sWARNobjective_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 + 0.08sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 0.08sINFOobjective_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 + 0.08sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785441816.18147135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOobjective_server_node[2026-07-30 20:03:36.558] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027627 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027627 ms (missed cycles : 4).[0m ×2 + 1.03sINFOobjective_server_node[0;93m2026-07-30 20:03:37.130308656 [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 + 1.03sINFOobjective_server_node[0;93m2026-07-30 20:03:37.130347687 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.16sINFOobjective_server_node[2026-07-30 20:03:37.260] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.57sINFOobjective_server_node[0;93m2026-07-30 20:03:37.669231081 [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 + 1.57sINFOobjective_server_node[0;93m2026-07-30 20:03:37.669263822 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.65sINFOobjective_server_node[2026-07-30 20:03:37.747] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.68sINFOobjective_server_node[0;93m2026-07-30 20:03:37.782802945 [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 + 1.69sINFOobjective_server_node[0;93m2026-07-30 20:03:37.785082983 [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 + 1.69sINFOobjective_server_node[0;93m2026-07-30 20:03:37.785112473 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.70sINFOobjective_server_node[2026-07-30 20:03:37.799] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.99sINFOobjective_server_node[0;93m2026-07-30 20:03:38.087456305 [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 + 2.01sINFOobjective_server_node[0;93m2026-07-30 20:03:38.106286428 [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 + 2.01sINFOobjective_server_node[0;93m2026-07-30 20:03:38.106324029 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280829 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280829 ms (missed cycles : 4).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412638 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412638 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785441819.53030443 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563840 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563840 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785441820.23583484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sINFOobjective_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 + 4.23sINFOobjective_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 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.53sINFOros2_control_node[2026-07-30 20:03:40.632] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-07-30 20:03:40.632] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114795 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114795 ms (missed cycles : 2).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713076 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713076 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 27 warnings · 86 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.794034 ms (missed cycles : 8). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.794034 ms (missed cycles : 8).[0m ×2 + 0.08sWARNobjective_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 + 0.08sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 0.08sINFOobjective_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 + 0.08sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785441816.18147135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOobjective_server_node[2026-07-30 20:03:36.558] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027627 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027627 ms (missed cycles : 4).[0m ×2 + 1.03sINFOobjective_server_node[0;93m2026-07-30 20:03:37.130308656 [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 + 1.03sINFOobjective_server_node[0;93m2026-07-30 20:03:37.130347687 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.16sINFOobjective_server_node[2026-07-30 20:03:37.260] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.57sINFOobjective_server_node[0;93m2026-07-30 20:03:37.669231081 [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 + 1.57sINFOobjective_server_node[0;93m2026-07-30 20:03:37.669263822 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.65sINFOobjective_server_node[2026-07-30 20:03:37.747] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.68sINFOobjective_server_node[0;93m2026-07-30 20:03:37.782802945 [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 + 1.69sINFOobjective_server_node[0;93m2026-07-30 20:03:37.785082983 [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 + 1.69sINFOobjective_server_node[0;93m2026-07-30 20:03:37.785112473 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.70sINFOobjective_server_node[2026-07-30 20:03:37.799] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.99sINFOobjective_server_node[0;93m2026-07-30 20:03:38.087456305 [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 + 2.01sINFOobjective_server_node[0;93m2026-07-30 20:03:38.106286428 [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 + 2.01sINFOobjective_server_node[0;93m2026-07-30 20:03:38.106324029 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280829 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280829 ms (missed cycles : 4).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412638 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412638 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785441819.53030443 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563840 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563840 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785441820.23583484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sINFOobjective_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 + 4.23sINFOobjective_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 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.53sINFOros2_control_node[2026-07-30 20:03:40.632] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-07-30 20:03:40.632] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114795 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114795 ms (missed cycles : 2).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713076 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713076 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 27 warnings · 86 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.794034 ms (missed cycles : 8). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.794034 ms (missed cycles : 8).[0m ×2 + 0.08sWARNobjective_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 + 0.08sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 0.08sINFOobjective_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 + 0.08sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785441816.18147135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOobjective_server_node[2026-07-30 20:03:36.558] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027627 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027627 ms (missed cycles : 4).[0m ×2 + 1.03sINFOobjective_server_node[0;93m2026-07-30 20:03:37.130308656 [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 + 1.03sINFOobjective_server_node[0;93m2026-07-30 20:03:37.130347687 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.16sINFOobjective_server_node[2026-07-30 20:03:37.260] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.57sINFOobjective_server_node[0;93m2026-07-30 20:03:37.669231081 [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 + 1.57sINFOobjective_server_node[0;93m2026-07-30 20:03:37.669263822 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.65sINFOobjective_server_node[2026-07-30 20:03:37.747] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.68sINFOobjective_server_node[0;93m2026-07-30 20:03:37.782802945 [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 + 1.69sINFOobjective_server_node[0;93m2026-07-30 20:03:37.785082983 [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 + 1.69sINFOobjective_server_node[0;93m2026-07-30 20:03:37.785112473 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.70sINFOobjective_server_node[2026-07-30 20:03:37.799] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.99sINFOobjective_server_node[0;93m2026-07-30 20:03:38.087456305 [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 + 2.01sINFOobjective_server_node[0;93m2026-07-30 20:03:38.106286428 [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 + 2.01sINFOobjective_server_node[0;93m2026-07-30 20:03:38.106324029 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280829 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280829 ms (missed cycles : 4).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412638 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412638 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785441819.53030443 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563840 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563840 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785441820.23583484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sINFOobjective_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 + 4.23sINFOobjective_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 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.53sINFOros2_control_node[2026-07-30 20:03:40.632] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-07-30 20:03:40.632] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114795 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114795 ms (missed cycles : 2).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713076 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713076 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 30 warnings · 61 info |
+ 0.00sINFOros2_control_node[2026-07-30 20:05:29.308] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-07-30 20:05:29.308] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833998 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833998 ms (missed cycles : 2).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733022 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733022 ms (missed cycles : 3).[0m ×2 + 1.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.71sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.71sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.73sINFOros2_control_node[2026-07-30 20:05:31.034] [info] Received new action goal ×2 + 1.73sINFOros2_control_node[2026-07-30 20:05:31.034] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448111 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448111 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785441932.32091641 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704180 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704180 ms (missed cycles : 2).[0m ×2 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.73sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.73sINFOobjective_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 `Plan and Save Trajectory` starting at time: 1785441933.07075071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.93sINFOros2_control_node[2026-07-30 20:05:33.237] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-07-30 20:05:33.237] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852671 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852671 ms (missed cycles : 5).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257246 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257246 ms (missed cycles : 4).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050189 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050189 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 27 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008953 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008953 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625828 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625828 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182806 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182806 ms (missed cycles : 5).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303830 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303830 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_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 + 3.54sERRORobjective_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: 1785441943.38112879 seconds ×3 + 3.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602461 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602461 ms (missed cycles : 2).[0m ×2 + 4.13sWARNobjective_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 + 4.13sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.13sINFOobjective_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 + 4.13sWARNobjective_server_nodeGetTrajectoryStateAtTime Warning: Using deprecated behavior 'GetTrajectoryStateAtTime': Renamed to GetRobotStateFromTrajectory. ×3 + 4.13sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1785441943.97404695 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.37sINFOros2_control_node[2026-07-30 20:05:44.207] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-07-30 20:05:44.207] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858627 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858627 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648577 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648577 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 24 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357043 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357043 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948299 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948299 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619681 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619681 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1785441953.81196237 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.635988 ms (missed cycles : 7). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.635988 ms (missed cycles : 7).[0m ×2 + 3.28sWARNobjective_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 + 3.28sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.28sINFOobjective_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 + 3.29sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1785441954.48248601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.41sINFOros2_control_node[2026-07-30 20:05:54.607] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-07-30 20:05:54.607] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709672 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709672 ms (missed cycles : 2).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845606 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845606 ms (missed cycles : 4).[0m ×2 + 5.32sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.32sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 36 warnings · 142 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705564 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705564 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253669 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253669 ms (missed cycles : 4).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.053789 ms (missed cycles : 6). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.053789 ms (missed cycles : 6).[0m ×2 + 2.32sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOros2_control_node[2026-07-30 20:06:17.384] [info] Got request to cancel active goal. ×2 + 2.34sINFOros2_control_node[2026-07-30 20:06:17.384] [info] Canceling active goal... ×2 + 2.35sERRORobjective_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: 1785441977.39750051 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.94sWARNobjective_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 + 2.94sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.94sINFOobjective_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 + 2.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785441977.99957657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313745 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313745 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785441978.43043470 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785441979.01948500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.97sINFOobjective_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 + 3.97sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785441979.02157116 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456643 ms (missed cycles : 6). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456643 ms (missed cycles : 6).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785441979.72171831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785441979.72217011 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682324 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682324 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785441980.30798864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537563 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537563 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 27 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.968296 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.968296 ms (missed cycles : 7).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742867 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742867 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039199 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039199 ms (missed cycles : 4).[0m ×2 + 2.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.11sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 2.11sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.13sINFOros2_control_node[2026-07-30 20:02:19.784] [info] Received new action goal ×2 + 2.13sINFOros2_control_node[2026-07-30 20:02:19.784] [info] Accepted new action goal ×2 + 2.72sINFOobjective_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 + 2.72sINFOros2_control_node[2026-07-30 20:02:20.382] [info] Got request to cancel active goal. ×2 + 2.72sINFOros2_control_node[2026-07-30 20:02:20.382] [info] Canceling active goal... ×2 + 2.74sERRORobjective_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: 1785441740.39915395 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217275 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217275 ms (missed cycles : 3).[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 + 3.35sINFOobjective_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 `Add Table to Planning Scene` starting at time: 1785441741.01302314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785441741.12315822 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785441741.74214959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539258 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539258 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.27sINFOros2_control_node[2026-07-30 20:02:21.925] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-07-30 20:02:21.925] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501139 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501139 ms (missed cycles : 5).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100055 ms (missed cycles : 4). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100055 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 27 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.968296 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.968296 ms (missed cycles : 7).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742867 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742867 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039199 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039199 ms (missed cycles : 4).[0m ×2 + 2.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.11sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 2.11sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.13sINFOros2_control_node[2026-07-30 20:02:19.784] [info] Received new action goal ×2 + 2.13sINFOros2_control_node[2026-07-30 20:02:19.784] [info] Accepted new action goal ×2 + 2.72sINFOobjective_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 + 2.72sINFOros2_control_node[2026-07-30 20:02:20.382] [info] Got request to cancel active goal. ×2 + 2.72sINFOros2_control_node[2026-07-30 20:02:20.382] [info] Canceling active goal... ×2 + 2.74sERRORobjective_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: 1785441740.39915395 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217275 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217275 ms (missed cycles : 3).[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 + 3.35sINFOobjective_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 `Add Table to Planning Scene` starting at time: 1785441741.01302314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785441741.12315822 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785441741.74214959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539258 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539258 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.27sINFOros2_control_node[2026-07-30 20:02:21.925] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-07-30 20:02:21.925] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501139 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501139 ms (missed cycles : 5).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100055 ms (missed cycles : 4). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100055 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 27 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742867 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742867 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039199 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039199 ms (missed cycles : 4).[0m ×2 + 1.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.11sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 1.11sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.13sINFOros2_control_node[2026-07-30 20:02:19.784] [info] Received new action goal ×2 + 1.13sINFOros2_control_node[2026-07-30 20:02:19.784] [info] Accepted new action goal ×2 + 1.72sINFOobjective_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 + 1.72sINFOros2_control_node[2026-07-30 20:02:20.382] [info] Got request to cancel active goal. ×2 + 1.72sINFOros2_control_node[2026-07-30 20:02:20.382] [info] Canceling active goal... ×2 + 1.74sERRORobjective_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: 1785441740.39915395 seconds ×3 + 1.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217275 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217275 ms (missed cycles : 3).[0m ×2 + 2.35sWARNobjective_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 + 2.35sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.35sINFOobjective_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 + 2.35sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785441741.01302314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785441741.12315822 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785441741.74214959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539258 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539258 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.27sINFOros2_control_node[2026-07-30 20:02:21.925] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-07-30 20:02:21.925] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501139 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501139 ms (missed cycles : 5).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100055 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100055 ms (missed cycles : 4).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998965 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998965 ms (missed cycles : 2).[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 1.742867 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742867 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039199 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039199 ms (missed cycles : 4).[0m ×2 + 1.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.11sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 1.11sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.13sINFOros2_control_node[2026-07-30 20:02:19.784] [info] Received new action goal ×2 + 1.13sINFOros2_control_node[2026-07-30 20:02:19.784] [info] Accepted new action goal ×2 + 1.72sINFOobjective_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 + 1.72sINFOros2_control_node[2026-07-30 20:02:20.382] [info] Got request to cancel active goal. ×2 + 1.72sINFOros2_control_node[2026-07-30 20:02:20.382] [info] Canceling active goal... ×2 + 1.74sERRORobjective_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: 1785441740.39915395 seconds ×3 + 1.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217275 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217275 ms (missed cycles : 3).[0m ×2 + 2.35sWARNobjective_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 + 2.35sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.35sINFOobjective_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 + 2.35sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785441741.01302314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785441741.12315822 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785441741.74214959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539258 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539258 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.27sINFOros2_control_node[2026-07-30 20:02:21.925] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-07-30 20:02:21.925] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501139 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501139 ms (missed cycles : 5).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100055 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100055 ms (missed cycles : 4).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998965 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998965 ms (missed cycles : 2).[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 1.742867 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742867 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039199 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039199 ms (missed cycles : 4).[0m ×2 + 1.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.11sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 1.11sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.13sINFOros2_control_node[2026-07-30 20:02:19.784] [info] Received new action goal ×2 + 1.13sINFOros2_control_node[2026-07-30 20:02:19.784] [info] Accepted new action goal ×2 + 1.72sINFOobjective_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 + 1.72sINFOros2_control_node[2026-07-30 20:02:20.382] [info] Got request to cancel active goal. ×2 + 1.72sINFOros2_control_node[2026-07-30 20:02:20.382] [info] Canceling active goal... ×2 + 1.74sERRORobjective_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: 1785441740.39915395 seconds ×3 + 1.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217275 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217275 ms (missed cycles : 3).[0m ×2 + 2.35sWARNobjective_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 + 2.35sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.35sINFOobjective_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 + 2.35sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785441741.01302314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785441741.12315822 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785441741.74214959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539258 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.539258 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.27sINFOros2_control_node[2026-07-30 20:02:21.925] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-07-30 20:02:21.925] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501139 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501139 ms (missed cycles : 5).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100055 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.100055 ms (missed cycles : 4).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998965 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998965 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 27 warnings · 87 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679722 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679722 ms (missed cycles : 3).[0m ×2 + 0.40sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.42sINFOros2_control_node[2026-07-30 20:02:43.765] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-07-30 20:02:43.765] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679097 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679097 ms (missed cycles : 2).[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785441765.04238296 seconds ×3 + 1.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563555 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563555 ms (missed cycles : 2).[0m ×2 + 2.28sWARNobjective_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 + 2.28sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.28sINFOobjective_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 + 2.31sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785441765.66049695 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785441765.77064443 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785441766.40740848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381923 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381923 ms (missed cycles : 3).[0m ×2 + 3.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.16sINFOros2_control_node[2026-07-30 20:02:46.511] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-07-30 20:02:46.511] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772597 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772597 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945669 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945669 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 27 warnings · 87 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679722 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679722 ms (missed cycles : 3).[0m ×2 + 0.40sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.42sINFOros2_control_node[2026-07-30 20:02:43.765] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-07-30 20:02:43.765] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679097 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679097 ms (missed cycles : 2).[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785441765.04238296 seconds ×3 + 1.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563555 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563555 ms (missed cycles : 2).[0m ×2 + 2.28sWARNobjective_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 + 2.28sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.28sINFOobjective_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 + 2.31sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785441765.66049695 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785441765.77064443 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785441766.40740848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381923 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381923 ms (missed cycles : 3).[0m ×2 + 3.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.16sINFOros2_control_node[2026-07-30 20:02:46.511] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-07-30 20:02:46.511] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772597 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772597 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945669 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945669 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 27 warnings · 87 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679722 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679722 ms (missed cycles : 3).[0m ×2 + 0.40sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.42sINFOros2_control_node[2026-07-30 20:02:43.765] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-07-30 20:02:43.765] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679097 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679097 ms (missed cycles : 2).[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785441765.04238296 seconds ×3 + 1.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563555 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563555 ms (missed cycles : 2).[0m ×2 + 2.28sWARNobjective_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 + 2.28sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.28sINFOobjective_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 + 2.31sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785441765.66049695 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785441765.77064443 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785441766.40740848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381923 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381923 ms (missed cycles : 3).[0m ×2 + 3.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.16sINFOros2_control_node[2026-07-30 20:02:46.511] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-07-30 20:02:46.511] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772597 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772597 ms (missed cycles : 5).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945669 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945669 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 21 warnings · 73 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.09sINFOros2_control_node[2026-07-30 20:02:54.509] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-07-30 20:02:54.509] [info] Accepted new action goal ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164363 ms (missed cycles : 5). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164363 ms (missed cycles : 5).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581192 ms (missed cycles : 6). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581192 ms (missed cycles : 6).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879572 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879572 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 2.42sINFOros2_control_node[2026-07-30 20:02:56.838] [info] Received new action goal ×2 + 2.42sINFOros2_control_node[2026-07-30 20:02:56.838] [info] Accepted new action goal ×2 + 2.55sINFOobjective_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 + 2.56sINFOros2_control_node[2026-07-30 20:02:56.977] [info] Got request to cancel active goal. ×2 + 2.56sINFOros2_control_node[2026-07-30 20:02:56.977] [info] Canceling active goal... ×2 + 2.57sERRORobjective_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: 1785441776.99268270 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.25sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.25sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.28sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785441777.70228553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.48sINFOros2_control_node[2026-07-30 20:02:57.896] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-07-30 20:02:57.896] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844218 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844218 ms (missed cycles : 4).[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532724 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532724 ms (missed cycles : 3).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547438 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547438 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 21 warnings · 73 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.09sINFOros2_control_node[2026-07-30 20:02:54.509] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-07-30 20:02:54.509] [info] Accepted new action goal ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164363 ms (missed cycles : 5). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164363 ms (missed cycles : 5).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581192 ms (missed cycles : 6). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581192 ms (missed cycles : 6).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879572 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879572 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 2.42sINFOros2_control_node[2026-07-30 20:02:56.838] [info] Received new action goal ×2 + 2.42sINFOros2_control_node[2026-07-30 20:02:56.838] [info] Accepted new action goal ×2 + 2.55sINFOobjective_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 + 2.56sINFOros2_control_node[2026-07-30 20:02:56.977] [info] Got request to cancel active goal. ×2 + 2.56sINFOros2_control_node[2026-07-30 20:02:56.977] [info] Canceling active goal... ×2 + 2.57sERRORobjective_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: 1785441776.99268270 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.25sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.25sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.28sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785441777.70228553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.48sINFOros2_control_node[2026-07-30 20:02:57.896] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-07-30 20:02:57.896] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844218 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844218 ms (missed cycles : 4).[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532724 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532724 ms (missed cycles : 3).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547438 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547438 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 21 warnings · 73 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.09sINFOros2_control_node[2026-07-30 20:02:54.509] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-07-30 20:02:54.509] [info] Accepted new action goal ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164363 ms (missed cycles : 5). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164363 ms (missed cycles : 5).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581192 ms (missed cycles : 6). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581192 ms (missed cycles : 6).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879572 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879572 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 2.42sINFOros2_control_node[2026-07-30 20:02:56.838] [info] Received new action goal ×2 + 2.42sINFOros2_control_node[2026-07-30 20:02:56.838] [info] Accepted new action goal ×2 + 2.55sINFOobjective_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 + 2.56sINFOros2_control_node[2026-07-30 20:02:56.977] [info] Got request to cancel active goal. ×2 + 2.56sINFOros2_control_node[2026-07-30 20:02:56.977] [info] Canceling active goal... ×2 + 2.57sERRORobjective_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: 1785441776.99268270 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.25sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.25sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.28sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785441777.70228553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.48sINFOros2_control_node[2026-07-30 20:02:57.896] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-07-30 20:02:57.896] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844218 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844218 ms (missed cycles : 4).[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532724 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532724 ms (missed cycles : 3).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547438 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547438 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 21 warnings · 73 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.09sINFOros2_control_node[2026-07-30 20:02:54.509] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-07-30 20:02:54.509] [info] Accepted new action goal ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164363 ms (missed cycles : 5). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164363 ms (missed cycles : 5).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581192 ms (missed cycles : 6). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581192 ms (missed cycles : 6).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879572 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879572 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 2.42sINFOros2_control_node[2026-07-30 20:02:56.838] [info] Received new action goal ×2 + 2.42sINFOros2_control_node[2026-07-30 20:02:56.838] [info] Accepted new action goal ×2 + 2.55sINFOobjective_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 + 2.56sINFOros2_control_node[2026-07-30 20:02:56.977] [info] Got request to cancel active goal. ×2 + 2.56sINFOros2_control_node[2026-07-30 20:02:56.977] [info] Canceling active goal... ×2 + 2.57sERRORobjective_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: 1785441776.99268270 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.25sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.25sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.28sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785441777.70228553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.48sINFOros2_control_node[2026-07-30 20:02:57.896] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-07-30 20:02:57.896] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844218 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844218 ms (missed cycles : 4).[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532724 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532724 ms (missed cycles : 3).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547438 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547438 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 21 warnings · 73 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.09sINFOros2_control_node[2026-07-30 20:02:54.509] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-07-30 20:02:54.509] [info] Accepted new action goal ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164363 ms (missed cycles : 5). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164363 ms (missed cycles : 5).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581192 ms (missed cycles : 6). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581192 ms (missed cycles : 6).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879572 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879572 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 2.42sINFOros2_control_node[2026-07-30 20:02:56.838] [info] Received new action goal ×2 + 2.42sINFOros2_control_node[2026-07-30 20:02:56.838] [info] Accepted new action goal ×2 + 2.55sINFOobjective_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 + 2.56sINFOros2_control_node[2026-07-30 20:02:56.977] [info] Got request to cancel active goal. ×2 + 2.56sINFOros2_control_node[2026-07-30 20:02:56.977] [info] Canceling active goal... ×2 + 2.57sERRORobjective_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: 1785441776.99268270 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.25sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.25sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.28sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785441777.70228553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.48sINFOros2_control_node[2026-07-30 20:02:57.896] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-07-30 20:02:57.896] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844218 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844218 ms (missed cycles : 4).[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532724 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532724 ms (missed cycles : 3).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547438 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547438 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 21 warnings · 73 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.09sINFOros2_control_node[2026-07-30 20:02:54.509] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-07-30 20:02:54.509] [info] Accepted new action goal ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164363 ms (missed cycles : 5). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164363 ms (missed cycles : 5).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581192 ms (missed cycles : 6). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581192 ms (missed cycles : 6).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879572 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879572 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 2.42sINFOros2_control_node[2026-07-30 20:02:56.838] [info] Received new action goal ×2 + 2.42sINFOros2_control_node[2026-07-30 20:02:56.838] [info] Accepted new action goal ×2 + 2.55sINFOobjective_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 + 2.56sINFOros2_control_node[2026-07-30 20:02:56.977] [info] Got request to cancel active goal. ×2 + 2.56sINFOros2_control_node[2026-07-30 20:02:56.977] [info] Canceling active goal... ×2 + 2.57sERRORobjective_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: 1785441776.99268270 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.25sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.25sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.28sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785441777.70228553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.48sINFOros2_control_node[2026-07-30 20:02:57.896] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-07-30 20:02:57.896] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844218 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844218 ms (missed cycles : 4).[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532724 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532724 ms (missed cycles : 3).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547438 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547438 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 21 warnings · 73 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.09sINFOros2_control_node[2026-07-30 20:02:54.509] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-07-30 20:02:54.509] [info] Accepted new action goal ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164363 ms (missed cycles : 5). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164363 ms (missed cycles : 5).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581192 ms (missed cycles : 6). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581192 ms (missed cycles : 6).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879572 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879572 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 2.42sINFOros2_control_node[2026-07-30 20:02:56.838] [info] Received new action goal ×2 + 2.42sINFOros2_control_node[2026-07-30 20:02:56.838] [info] Accepted new action goal ×2 + 2.55sINFOobjective_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 + 2.56sINFOros2_control_node[2026-07-30 20:02:56.977] [info] Got request to cancel active goal. ×2 + 2.56sINFOros2_control_node[2026-07-30 20:02:56.977] [info] Canceling active goal... ×2 + 2.57sERRORobjective_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: 1785441776.99268270 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.25sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.25sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.28sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785441777.70228553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.48sINFOros2_control_node[2026-07-30 20:02:57.896] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-07-30 20:02:57.896] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844218 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844218 ms (missed cycles : 4).[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532724 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532724 ms (missed cycles : 3).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547438 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547438 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 21 warnings · 73 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.09sINFOros2_control_node[2026-07-30 20:02:54.509] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-07-30 20:02:54.509] [info] Accepted new action goal ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164363 ms (missed cycles : 5). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164363 ms (missed cycles : 5).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581192 ms (missed cycles : 6). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581192 ms (missed cycles : 6).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879572 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879572 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 2.42sINFOros2_control_node[2026-07-30 20:02:56.838] [info] Received new action goal ×2 + 2.42sINFOros2_control_node[2026-07-30 20:02:56.838] [info] Accepted new action goal ×2 + 2.55sINFOobjective_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 + 2.56sINFOros2_control_node[2026-07-30 20:02:56.977] [info] Got request to cancel active goal. ×2 + 2.56sINFOros2_control_node[2026-07-30 20:02:56.977] [info] Canceling active goal... ×2 + 2.57sERRORobjective_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: 1785441776.99268270 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.25sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.25sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.28sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785441777.70228553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.48sINFOros2_control_node[2026-07-30 20:02:57.896] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-07-30 20:02:57.896] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844218 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844218 ms (missed cycles : 4).[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532724 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532724 ms (missed cycles : 3).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547438 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547438 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 21 warnings · 73 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.09sINFOros2_control_node[2026-07-30 20:02:54.509] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-07-30 20:02:54.509] [info] Accepted new action goal ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164363 ms (missed cycles : 5). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164363 ms (missed cycles : 5).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581192 ms (missed cycles : 6). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581192 ms (missed cycles : 6).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879572 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879572 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 2.42sINFOros2_control_node[2026-07-30 20:02:56.838] [info] Received new action goal ×2 + 2.42sINFOros2_control_node[2026-07-30 20:02:56.838] [info] Accepted new action goal ×2 + 2.55sINFOobjective_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 + 2.56sINFOros2_control_node[2026-07-30 20:02:56.977] [info] Got request to cancel active goal. ×2 + 2.56sINFOros2_control_node[2026-07-30 20:02:56.977] [info] Canceling active goal... ×2 + 2.57sERRORobjective_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: 1785441776.99268270 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.25sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.25sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.28sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785441777.70228553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.48sINFOros2_control_node[2026-07-30 20:02:57.896] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-07-30 20:02:57.896] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844218 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844218 ms (missed cycles : 4).[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532724 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532724 ms (missed cycles : 3).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547438 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547438 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 21 warnings · 73 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.09sINFOros2_control_node[2026-07-30 20:02:54.509] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-07-30 20:02:54.509] [info] Accepted new action goal ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164363 ms (missed cycles : 5). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164363 ms (missed cycles : 5).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581192 ms (missed cycles : 6). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581192 ms (missed cycles : 6).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879572 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879572 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 2.42sINFOros2_control_node[2026-07-30 20:02:56.838] [info] Received new action goal ×2 + 2.42sINFOros2_control_node[2026-07-30 20:02:56.838] [info] Accepted new action goal ×2 + 2.55sINFOobjective_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 + 2.56sINFOros2_control_node[2026-07-30 20:02:56.977] [info] Got request to cancel active goal. ×2 + 2.56sINFOros2_control_node[2026-07-30 20:02:56.977] [info] Canceling active goal... ×2 + 2.57sERRORobjective_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: 1785441776.99268270 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.25sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.25sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.28sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785441777.70228553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.48sINFOros2_control_node[2026-07-30 20:02:57.896] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-07-30 20:02:57.896] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844218 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844218 ms (missed cycles : 4).[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532724 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532724 ms (missed cycles : 3).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547438 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547438 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 21 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346939 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346939 ms (missed cycles : 6).[0m ×2 + 0.04sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.04sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.05sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 0.05sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.06sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.12sINFOobjective_server_nodeFound path in 5 iterations (0.00427174 s). ×2 + 0.15sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.22sINFOros2_control_node[2026-07-30 20:03:16.744] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-07-30 20:03:16.744] [info] Accepted new action goal ×2 + 0.61sINFOros2_control_node[2026-07-30 20:03:17.136] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-07-30 20:03:17.136] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.268042 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.268042 ms (missed cycles : 6).[0m ×2 + 1.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434137 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434137 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_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 + 2.45sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.45sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.45sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.45sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.49sERRORobjective_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: 1785441799.02275443 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628548 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628548 ms (missed cycles : 3).[0m ×2 + 3.20sWARNobjective_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 + 3.20sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.20sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.27sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1785441799.79416251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.46sINFOros2_control_node[2026-07-30 20:03:19.987] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-07-30 20:03:19.987] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820464 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820464 ms (missed cycles : 2).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519757 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519757 ms (missed cycles : 2).[0m ×2 + 5.84sINFOros2_control_node[2026-07-30 20:03:22.364] [info] Received new action goal ×2 + 5.84sINFOros2_control_node[2026-07-30 20:03:22.364] [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 | 24 warnings · 77 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 0.01sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785441812.46894336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.13sINFOros2_control_node[2026-07-30 20:03:32.591] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-07-30 20:03:32.591] [info] Accepted new action goal ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.119540 ms (missed cycles : 7). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.119540 ms (missed cycles : 7).[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332413 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332413 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785441814.59313321 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842454 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842454 ms (missed cycles : 2).[0m ×2 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.794034 ms (missed cycles : 8). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.794034 ms (missed cycles : 8).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785441816.18147135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_node[2026-07-30 20:03:36.558] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027627 ms (missed cycles : 4). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027627 ms (missed cycles : 4).[0m ×2 + 4.67sINFOobjective_server_node[0;93m2026-07-30 20:03:37.130308656 [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 + 4.67sINFOobjective_server_node[0;93m2026-07-30 20:03:37.130347687 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 4.80sINFOobjective_server_node[2026-07-30 20:03:37.260] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.21sINFOobjective_server_node[0;93m2026-07-30 20:03:37.669231081 [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 + 5.21sINFOobjective_server_node[0;93m2026-07-30 20:03:37.669263822 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.29sINFOobjective_server_node[2026-07-30 20:03:37.747] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.32sINFOobjective_server_node[0;93m2026-07-30 20:03:37.782802945 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 5.32sINFOobjective_server_node[0;93m2026-07-30 20:03:37.785082983 [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 + 5.32sINFOobjective_server_node[0;93m2026-07-30 20:03:37.785112473 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.34sINFOobjective_server_node[2026-07-30 20:03:37.799] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.63sINFOobjective_server_node[0;93m2026-07-30 20:03:38.087456305 [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 + 5.64sINFOobjective_server_node[0;93m2026-07-30 20:03:38.106286428 [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 + 5.64sINFOobjective_server_node[0;93m2026-07-30 20:03:38.106324029 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280829 ms (missed cycles : 4). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280829 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 27 warnings · 86 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.794034 ms (missed cycles : 8). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.794034 ms (missed cycles : 8).[0m ×2 + 0.08sWARNobjective_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 + 0.08sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 0.08sINFOobjective_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 + 0.08sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785441816.18147135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOobjective_server_node[2026-07-30 20:03:36.558] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027627 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027627 ms (missed cycles : 4).[0m ×2 + 1.03sINFOobjective_server_node[0;93m2026-07-30 20:03:37.130308656 [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 + 1.03sINFOobjective_server_node[0;93m2026-07-30 20:03:37.130347687 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.16sINFOobjective_server_node[2026-07-30 20:03:37.260] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.57sINFOobjective_server_node[0;93m2026-07-30 20:03:37.669231081 [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 + 1.57sINFOobjective_server_node[0;93m2026-07-30 20:03:37.669263822 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.65sINFOobjective_server_node[2026-07-30 20:03:37.747] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.68sINFOobjective_server_node[0;93m2026-07-30 20:03:37.782802945 [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 + 1.69sINFOobjective_server_node[0;93m2026-07-30 20:03:37.785082983 [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 + 1.69sINFOobjective_server_node[0;93m2026-07-30 20:03:37.785112473 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.70sINFOobjective_server_node[2026-07-30 20:03:37.799] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.99sINFOobjective_server_node[0;93m2026-07-30 20:03:38.087456305 [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 + 2.01sINFOobjective_server_node[0;93m2026-07-30 20:03:38.106286428 [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 + 2.01sINFOobjective_server_node[0;93m2026-07-30 20:03:38.106324029 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280829 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280829 ms (missed cycles : 4).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412638 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412638 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785441819.53030443 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563840 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563840 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785441820.23583484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sINFOobjective_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 + 4.23sINFOobjective_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 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.53sINFOros2_control_node[2026-07-30 20:03:40.632] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-07-30 20:03:40.632] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114795 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114795 ms (missed cycles : 2).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713076 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713076 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 18 errors · 21 warnings · 120 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.636527 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.636527 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962278 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962278 ms (missed cycles : 3).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604628 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604628 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785441873.31763148 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×5 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603421 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603421 ms (missed cycles : 3).[0m ×2 + 3.18sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.18sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.18sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.19sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785441873.95335031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.35sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.36sINFOros2_control_node[2026-07-30 20:04:34.126] [info] Received new action goal ×2 + 3.36sINFOros2_control_node[2026-07-30 20:04:34.126] [info] Accepted new action goal ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.970001 ms (missed cycles : 5). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.970001 ms (missed cycles : 5).[0m ×2 + 4.63sINFOobjective_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 + 4.63sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.68sINFOobjective_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 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.98sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×18 + 4.99sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815617 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815617 ms (missed cycles : 2).[0m ×2 + 6.01sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785441876.77512503 seconds ×3 + 6.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.03sINFOros2_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 · 166 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 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815617 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815617 ms (missed cycles : 2).[0m ×2 + 1.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785441876.77512503 seconds ×3 + 1.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×7 + 1.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.228708 ms (missed cycles : 7). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.228708 ms (missed cycles : 7).[0m ×2 + 1.62sWARNobjective_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 + 1.62sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 1.62sINFOobjective_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 + 1.66sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785441877.40257120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_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 + 1.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 1.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 1.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.79sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 1.79sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 1.80sINFOros2_control_node[2026-07-30 20:04:37.546] [info] Received new action goal ×2 + 1.80sINFOros2_control_node[2026-07-30 20:04:37.546] [info] Accepted new action goal ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419211 ms (missed cycles : 4). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419211 ms (missed cycles : 4).[0m ×2 + 3.12sINFOobjective_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 + 3.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157337 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157337 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785441879.12017965 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785441879.76895642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.18sINFOros2_control_node[2026-07-30 20:04:39.924] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-07-30 20:04:39.924] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.384188 ms (missed cycles : 11). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.384188 ms (missed cycles : 11).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581539 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581539 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096403 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096403 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 3 errors · 21 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121387 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121387 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736042 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736042 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.803735 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.803735 ms (missed cycles : 5).[0m ×2 + 2.20sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 2.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.46sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 2.46sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1785441891.85888410 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sWARNobjective_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 + 3.09sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.09sINFOobjective_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 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296364 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296364 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1785441892.56364846 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.26sINFOobjective_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 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOobjective_server_nodeFound path in 5 iterations (0.00355679 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 3.41sINFOros2_control_node[2026-07-30 20:04:52.809] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-07-30 20:04:52.809] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.820884 ms (missed cycles : 11). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.820884 ms (missed cycles : 11).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241291 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241291 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 50 info |
+ 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155512 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330493 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330493 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464545 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464545 ms (missed cycles : 3).[0m ×2 + 2.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304916 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304916 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785441921.61362362 seconds ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.53sINFOros2_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_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139161 ms (missed cycles : 5). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139161 ms (missed cycles : 5).[0m ×2 + 4.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 4.10sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785441922.32004952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.44sINFOros2_control_node[2026-07-30 20:05:22.524] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-07-30 20:05:22.524] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004014 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004014 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092150 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092150 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 50 info |
+ 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155512 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330493 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330493 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464545 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464545 ms (missed cycles : 3).[0m ×2 + 2.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304916 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304916 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785441921.61362362 seconds ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.53sINFOros2_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_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139161 ms (missed cycles : 5). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139161 ms (missed cycles : 5).[0m ×2 + 4.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 4.10sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785441922.32004952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.44sINFOros2_control_node[2026-07-30 20:05:22.524] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-07-30 20:05:22.524] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004014 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004014 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092150 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092150 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 30 warnings · 61 info |
+ 0.00sINFOros2_control_node[2026-07-30 20:05:29.308] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-07-30 20:05:29.308] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833998 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833998 ms (missed cycles : 2).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733022 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733022 ms (missed cycles : 3).[0m ×2 + 1.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.71sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.71sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.73sINFOros2_control_node[2026-07-30 20:05:31.034] [info] Received new action goal ×2 + 1.73sINFOros2_control_node[2026-07-30 20:05:31.034] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448111 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448111 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785441932.32091641 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704180 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704180 ms (missed cycles : 2).[0m ×2 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.73sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.73sINFOobjective_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 `Plan and Save Trajectory` starting at time: 1785441933.07075071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.93sINFOros2_control_node[2026-07-30 20:05:33.237] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-07-30 20:05:33.237] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852671 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852671 ms (missed cycles : 5).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257246 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257246 ms (missed cycles : 4).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050189 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050189 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 30 warnings · 61 info |
+ 0.00sINFOros2_control_node[2026-07-30 20:05:29.308] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-07-30 20:05:29.308] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833998 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833998 ms (missed cycles : 2).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733022 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733022 ms (missed cycles : 3).[0m ×2 + 1.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.71sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.71sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.73sINFOros2_control_node[2026-07-30 20:05:31.034] [info] Received new action goal ×2 + 1.73sINFOros2_control_node[2026-07-30 20:05:31.034] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448111 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448111 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785441932.32091641 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704180 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704180 ms (missed cycles : 2).[0m ×2 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.73sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.73sINFOobjective_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 `Plan and Save Trajectory` starting at time: 1785441933.07075071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.93sINFOros2_control_node[2026-07-30 20:05:33.237] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-07-30 20:05:33.237] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852671 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852671 ms (missed cycles : 5).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257246 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257246 ms (missed cycles : 4).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050189 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050189 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 30 warnings · 61 info |
+ 0.00sINFOros2_control_node[2026-07-30 20:05:29.308] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-07-30 20:05:29.308] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833998 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833998 ms (missed cycles : 2).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733022 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733022 ms (missed cycles : 3).[0m ×2 + 1.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.71sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.71sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.73sINFOros2_control_node[2026-07-30 20:05:31.034] [info] Received new action goal ×2 + 1.73sINFOros2_control_node[2026-07-30 20:05:31.034] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448111 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448111 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785441932.32091641 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704180 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704180 ms (missed cycles : 2).[0m ×2 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.73sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.73sINFOobjective_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 `Plan and Save Trajectory` starting at time: 1785441933.07075071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.93sINFOros2_control_node[2026-07-30 20:05:33.237] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-07-30 20:05:33.237] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852671 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852671 ms (missed cycles : 5).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257246 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257246 ms (missed cycles : 4).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050189 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050189 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 30 warnings · 61 info |
+ 0.00sINFOros2_control_node[2026-07-30 20:05:29.308] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-07-30 20:05:29.308] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833998 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833998 ms (missed cycles : 2).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733022 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733022 ms (missed cycles : 3).[0m ×2 + 1.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.71sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.71sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.73sINFOros2_control_node[2026-07-30 20:05:31.034] [info] Received new action goal ×2 + 1.73sINFOros2_control_node[2026-07-30 20:05:31.034] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448111 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448111 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785441932.32091641 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704180 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704180 ms (missed cycles : 2).[0m ×2 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.73sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.73sINFOobjective_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 `Plan and Save Trajectory` starting at time: 1785441933.07075071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.93sINFOros2_control_node[2026-07-30 20:05:33.237] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-07-30 20:05:33.237] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852671 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852671 ms (missed cycles : 5).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257246 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257246 ms (missed cycles : 4).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050189 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050189 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 30 warnings · 61 info |
+ 0.00sINFOros2_control_node[2026-07-30 20:05:29.308] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-07-30 20:05:29.308] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833998 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833998 ms (missed cycles : 2).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733022 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733022 ms (missed cycles : 3).[0m ×2 + 1.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.71sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.71sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.73sINFOros2_control_node[2026-07-30 20:05:31.034] [info] Received new action goal ×2 + 1.73sINFOros2_control_node[2026-07-30 20:05:31.034] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448111 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448111 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785441932.32091641 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704180 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704180 ms (missed cycles : 2).[0m ×2 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.73sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.73sINFOobjective_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 `Plan and Save Trajectory` starting at time: 1785441933.07075071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.93sINFOros2_control_node[2026-07-30 20:05:33.237] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-07-30 20:05:33.237] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852671 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852671 ms (missed cycles : 5).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257246 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257246 ms (missed cycles : 4).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050189 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050189 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 30 warnings · 61 info |
+ 0.00sINFOros2_control_node[2026-07-30 20:05:29.308] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-07-30 20:05:29.308] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833998 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833998 ms (missed cycles : 2).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733022 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733022 ms (missed cycles : 3).[0m ×2 + 1.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.71sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.71sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.73sINFOros2_control_node[2026-07-30 20:05:31.034] [info] Received new action goal ×2 + 1.73sINFOros2_control_node[2026-07-30 20:05:31.034] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448111 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448111 ms (missed cycles : 2).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785441932.32091641 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704180 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704180 ms (missed cycles : 2).[0m ×2 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.73sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.73sINFOobjective_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 `Plan and Save Trajectory` starting at time: 1785441933.07075071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.93sINFOros2_control_node[2026-07-30 20:05:33.237] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-07-30 20:05:33.237] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852671 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852671 ms (missed cycles : 5).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257246 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257246 ms (missed cycles : 4).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050189 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050189 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 39 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362061 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362061 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859278 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859278 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.541207 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.541207 ms (missed cycles : 6).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892521 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892521 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_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 + 3.34sERRORobjective_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: 1785441964.88277721 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.97sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 3.97sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.97sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 3.97sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785441965.51257563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.03sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785441965.60273051 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927053 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927053 ms (missed cycles : 3).[0m ×2 + 4.64sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 4.64sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785441966.17797160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_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 + 4.66sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785441966.19990420 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840583 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840583 ms (missed cycles : 2).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785441966.92274642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.49sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 5.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.50sINFOros2_control_node[2026-07-30 20:06:07.036] [info] Received new action goal ×2 + 5.50sINFOros2_control_node[2026-07-30 20:06:07.036] [info] Accepted new action goal ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454276 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454276 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 39 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362061 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362061 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859278 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859278 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.541207 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.541207 ms (missed cycles : 6).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892521 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892521 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_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 + 3.34sERRORobjective_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: 1785441964.88277721 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.97sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 3.97sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.97sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 3.97sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785441965.51257563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.03sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785441965.60273051 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927053 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927053 ms (missed cycles : 3).[0m ×2 + 4.64sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 4.64sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785441966.17797160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_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 + 4.66sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785441966.19990420 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840583 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840583 ms (missed cycles : 2).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785441966.92274642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.49sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 5.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.50sINFOros2_control_node[2026-07-30 20:06:07.036] [info] Received new action goal ×2 + 5.50sINFOros2_control_node[2026-07-30 20:06:07.036] [info] Accepted new action goal ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454276 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454276 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 39 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362061 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362061 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859278 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859278 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.541207 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.541207 ms (missed cycles : 6).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892521 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892521 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_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 + 3.34sERRORobjective_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: 1785441964.88277721 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.97sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 3.97sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.97sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 3.97sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785441965.51257563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.03sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785441965.60273051 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927053 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927053 ms (missed cycles : 3).[0m ×2 + 4.64sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 4.64sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785441966.17797160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_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 + 4.66sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785441966.19990420 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840583 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840583 ms (missed cycles : 2).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785441966.92274642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.49sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 5.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.50sINFOros2_control_node[2026-07-30 20:06:07.036] [info] Received new action goal ×2 + 5.50sINFOros2_control_node[2026-07-30 20:06:07.036] [info] Accepted new action goal ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454276 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454276 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 39 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362061 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362061 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859278 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859278 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.541207 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.541207 ms (missed cycles : 6).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892521 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892521 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_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 + 3.34sERRORobjective_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: 1785441964.88277721 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.97sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 3.97sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.97sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 3.97sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785441965.51257563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.03sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785441965.60273051 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927053 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927053 ms (missed cycles : 3).[0m ×2 + 4.64sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 4.64sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785441966.17797160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_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 + 4.66sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785441966.19990420 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840583 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840583 ms (missed cycles : 2).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785441966.92274642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.49sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 5.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.50sINFOros2_control_node[2026-07-30 20:06:07.036] [info] Received new action goal ×2 + 5.50sINFOros2_control_node[2026-07-30 20:06:07.036] [info] Accepted new action goal ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454276 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454276 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 36 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.541207 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.541207 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892521 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892521 ms (missed cycles : 2).[0m ×2 + 1.23sINFOobjective_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 + 1.24sERRORobjective_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: 1785441964.88277721 seconds ×3 + 1.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.87sWARNobjective_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 + 1.87sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 1.87sINFOobjective_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 ×6 + 1.87sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785441965.51257563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785441965.60273051 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927053 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927053 ms (missed cycles : 3).[0m ×2 + 2.54sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 2.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785441966.17797160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785441966.19990420 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840583 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840583 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785441966.92274642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.40sINFOros2_control_node[2026-07-30 20:06:07.036] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-07-30 20:06:07.036] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454276 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454276 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597016 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597016 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 36 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.541207 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.541207 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892521 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892521 ms (missed cycles : 2).[0m ×2 + 1.23sINFOobjective_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 + 1.24sERRORobjective_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: 1785441964.88277721 seconds ×3 + 1.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.87sWARNobjective_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 + 1.87sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 1.87sINFOobjective_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 ×6 + 1.87sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785441965.51257563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785441965.60273051 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927053 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927053 ms (missed cycles : 3).[0m ×2 + 2.54sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 2.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785441966.17797160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785441966.19990420 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840583 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840583 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785441966.92274642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.40sINFOros2_control_node[2026-07-30 20:06:07.036] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-07-30 20:06:07.036] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454276 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454276 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597016 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597016 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region and Cover | select_region_and_cover.xml | 0.0s | 3 errors · 36 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.541207 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.541207 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892521 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892521 ms (missed cycles : 2).[0m ×2 + 1.23sINFOobjective_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 + 1.24sERRORobjective_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: 1785441964.88277721 seconds ×3 + 1.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.87sWARNobjective_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 + 1.87sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 1.87sINFOobjective_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 ×6 + 1.87sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785441965.51257563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785441965.60273051 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927053 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927053 ms (missed cycles : 3).[0m ×2 + 2.54sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 2.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785441966.17797160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785441966.19990420 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840583 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840583 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785441966.92274642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.40sINFOros2_control_node[2026-07-30 20:06:07.036] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-07-30 20:06:07.036] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454276 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454276 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597016 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597016 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 36 warnings · 142 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705564 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705564 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253669 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253669 ms (missed cycles : 4).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.053789 ms (missed cycles : 6). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.053789 ms (missed cycles : 6).[0m ×2 + 2.32sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOros2_control_node[2026-07-30 20:06:17.384] [info] Got request to cancel active goal. ×2 + 2.34sINFOros2_control_node[2026-07-30 20:06:17.384] [info] Canceling active goal... ×2 + 2.35sERRORobjective_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: 1785441977.39750051 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.94sWARNobjective_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 + 2.94sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.94sINFOobjective_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 + 2.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785441977.99957657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313745 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313745 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785441978.43043470 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785441979.01948500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.97sINFOobjective_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 + 3.97sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.97sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785441979.02157116 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456643 ms (missed cycles : 6). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456643 ms (missed cycles : 6).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785441979.72171831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785441979.72217011 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682324 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682324 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785441980.30798864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537563 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537563 ms (missed cycles : 2).[0m ×2 | ||||
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/__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 | 36 warnings · 281 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.09sINFOros2-8process has finished cleanly [pid 9025] ×2 + 0.11sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.11sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.11sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.12sINFOforce_torque_sensor_broadcasterconfigure successful + 0.12sINFOros2_control_nodeconfigure successful[0m ×2 + 0.12sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.12sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.45sINFOros2-2process has finished cleanly [pid 9019] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2-7process has finished cleanly [pid 9024] ×2 + 1.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.65sWARNobjective_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 ×5 + 1.65sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.65sINFOobjective_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 ×10 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 36 warnings · 281 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.09sINFOros2-8process has finished cleanly [pid 9025] ×2 + 0.11sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.11sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.11sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.12sINFOforce_torque_sensor_broadcasterconfigure successful + 0.12sINFOros2_control_nodeconfigure successful[0m ×2 + 0.12sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.12sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.45sINFOros2-2process has finished cleanly [pid 9019] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2-7process has finished cleanly [pid 9024] ×2 + 1.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.65sWARNobjective_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 ×5 + 1.65sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.65sINFOobjective_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 ×10 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 36 warnings · 281 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.09sINFOros2-8process has finished cleanly [pid 9025] ×2 + 0.11sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.11sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.11sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.12sINFOforce_torque_sensor_broadcasterconfigure successful + 0.12sINFOros2_control_nodeconfigure successful[0m ×2 + 0.12sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.12sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.45sINFOros2-2process has finished cleanly [pid 9019] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2-7process has finished cleanly [pid 9024] ×2 + 1.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.65sWARNobjective_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 ×5 + 1.65sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.65sINFOobjective_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 ×10 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 36 warnings · 281 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.09sINFOros2-8process has finished cleanly [pid 9025] ×2 + 0.11sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.11sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.11sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.12sINFOforce_torque_sensor_broadcasterconfigure successful + 0.12sINFOros2_control_nodeconfigure successful[0m ×2 + 0.12sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.12sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.45sINFOros2-2process has finished cleanly [pid 9019] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2-7process has finished cleanly [pid 9024] ×2 + 1.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.65sWARNobjective_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 ×5 + 1.65sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.65sINFOobjective_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 ×10 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 36 warnings · 281 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.09sINFOros2-8process has finished cleanly [pid 9025] ×2 + 0.11sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.11sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.11sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.12sINFOforce_torque_sensor_broadcasterconfigure successful + 0.12sINFOros2_control_nodeconfigure successful[0m ×2 + 0.12sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.12sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.45sINFOros2-2process has finished cleanly [pid 9019] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2-7process has finished cleanly [pid 9024] ×2 + 1.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.65sWARNobjective_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 ×5 + 1.65sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.65sINFOobjective_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 ×10 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 36 warnings · 281 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.09sINFOros2-8process has finished cleanly [pid 9025] ×2 + 0.11sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.11sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.11sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.12sINFOforce_torque_sensor_broadcasterconfigure successful + 0.12sINFOros2_control_nodeconfigure successful[0m ×2 + 0.12sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.12sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.45sINFOros2-2process has finished cleanly [pid 9019] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2-7process has finished cleanly [pid 9024] ×2 + 1.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.65sWARNobjective_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 ×5 + 1.65sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.65sINFOobjective_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 ×10 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 36 warnings · 281 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.09sINFOros2-8process has finished cleanly [pid 9025] ×2 + 0.11sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.11sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.11sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.12sINFOforce_torque_sensor_broadcasterconfigure successful + 0.12sINFOros2_control_nodeconfigure successful[0m ×2 + 0.12sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.12sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.45sINFOros2-2process has finished cleanly [pid 9019] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2-7process has finished cleanly [pid 9024] ×2 + 1.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.65sWARNobjective_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 ×5 + 1.65sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.65sINFOobjective_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 ×10 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 6.2s | 55 warnings · 625 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/2026-07-30-20-01-58-823698-13df83d19ad8-8970 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.21sINFOcontroller_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. + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856387 ms (missed cycles : 3). + 1.43sINFOros2_control_node-1process started with pid [9018] ×2 + 1.44sINFOmove_group-9process started with pid [9038] ×2 + 1.44sINFOparameter_manager_node-10process started with pid [9047] ×2 + 1.44sINFOwaypoint_manager_node-11process started with pid [9057] ×2 + 1.44sINFOmove_joint_resampler_node-12process started with pid [9058] ×2 + 1.44sINFOmove_end_effector_resampler_node-13process started with pid [9059] ×2 + 1.44sINFOobjective_server_node_main-14process started with pid [9060] ×2 + 1.44sINFOcomponent_container_mt-15process started with pid [9061] ×2 + 1.44sINFOcomponent_container_mt-16process started with pid [9062] ×2 + 1.44sINFOexecute_objective_bridge-17process started with pid [9063] ×2 + 1.44sINFOui_teleop_bridge-18process started with pid [9064] ×2 + 1.44sINFOweb_bridge-19process started with pid [9065] ×2 + 1.44sINFOtf2_web_republisher_node-20process started with pid [9179] ×2 + 1.44sINFOvideo_server-21process started with pid [9182] ×2 + 1.44sINFOweb_bridge_auth_proxy-22process started with pid [9183] ×2 + 1.44sINFOweb_video_auth_proxy-23process started with pid [9186] ×2 + 1.45sINFOros2-2process started with pid [9019] ×2 + 1.45sINFOros2-3process started with pid [9020] ×2 + 1.45sINFOros2-4process started with pid [9021] ×2 + 1.45sINFOros2-5process started with pid [9022] ×2 + 1.45sINFOros2-6process started with pid [9023] ×2 + 1.46sINFOros2-7process started with pid [9024] ×2 + 1.46sINFOros2-8process started with pid [9025] ×2 + 1.47sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.47sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.47sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.47sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.47sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.47sWARNros2_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 + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856387 ms (missed cycles : 3).[0m ×2 + 1.48sINFOcontroller_managerReceived robot description from topic. + 1.48sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.49sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.49sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.51sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.51sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.65sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.78sINFOvideo_server2026/07/30 20:02:01 INF MediaMTX v1.19.3, linux, amd64 ×2 + 1.78sINFOvideo_server2026/07/30 20:02:01 INF configuration loaded from /tmp/moveit-webrtc-eqd25dfy/mediamtx.yml ×2 + 1.78sINFOvideo_server2026/07/30 20:02:01 INF [RTSP] started with listeners on 127.0.0.1:13205 (TCP/RTSP) ×2 + 1.78sINFOvideo_server2026/07/30 20:02:01 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.46sINFOmove_group[2026-07-30 20:02:01.837] [moveit_pro_license] [info] ×2 + 2.46sINFOmove_group************************************************* ×4 + 2.46sINFOmove_group* MoveIt Pro License ×2 + 2.46sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.54sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.54sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.54sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.54sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985189 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985189 ms (missed cycles : 2).[0m ×2 + 2.55sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.55sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 2.73sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.77sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.77sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.77sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.77sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.78sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.78sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.78sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.83sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.88sINFOmove_group ×4 + 2.88sINFOmove_group[92mYou can start planning now![0m ×2 + 2.93sINFOwaypoint_manager_node[2026-07-30 20:02:02.309] [moveit_pro_license] [info] ×2 + 2.93sINFOwaypoint_manager_node************************************************* ×4 + 2.93sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.93sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.00sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.39sINFOobjective_server_node[2026-07-30 20:02:02.769] [moveit_pro_license] [info] ×2 + 3.39sINFOobjective_server_node************************************************* ×4 + 3.39sINFOobjective_server_node* MoveIt Pro License ×2 + 3.39sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.48sINFOobjective_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 + 3.48sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.49sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.49sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.49sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.49sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.49sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.49sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.49sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.49sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.79sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.79sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.90sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.90sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.90sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.90sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 3.90sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.90sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.90sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.91sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.91sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.91sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.91sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.91sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.91sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.91sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 3.94sINFOcomponent_container_mt[2026-07-30 20:02:03.320] [moveit_pro_license] [info] ×2 + 3.94sINFOcomponent_container_mt************************************************* ×4 + 3.94sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.94sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.06sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.06sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.06sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.06sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.06sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 4.06sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 4.07sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.07sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.07sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.07sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 4.07sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.07sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.07sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.07sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991945 ms (missed cycles : 3). + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991945 ms (missed cycles : 3).[0m ×2 + 4.08sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.08sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.38sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.38sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.38sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.40sWARNobjective_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 + 4.41sINFOros2-3process has finished cleanly [pid 9020] ×2 + 4.48sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 4.48sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 4.54sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.54sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 4.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.54sINFOros2_control_node[2026-07-30 20:02:03.918] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.54sINFOros2_control_node[2026-07-30 20:02:03.918] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.57sINFOros2_control_node[2026-07-30 20:02:03.949] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.57sINFOros2_control_node[2026-07-30 20:02:03.950] [info] Controller state will be published at 50 Hz. ×2 + 4.58sINFOros2_control_node[2026-07-30 20:02:03.956] [info] Registered `FollowJointTrajectory` action server. ×2 + 4.81sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 4.81sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.81sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 4.81sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.81sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 4.81sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 4.86sINFOros2-6process has finished cleanly [pid 9023] ×2 + 4.87sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.87sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 4.87sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 4.87sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.87sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.87sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 4.88sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.88sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.88sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.88sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.88sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 4.88sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 4.88sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 4.88sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.89sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 4.92sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 4.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 4.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 4.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 4.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 5.20sINFOros2-5process has finished cleanly [pid 9022] ×2 + 5.21sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 5.47sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.47sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.47sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.47sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.47sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 5.47sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 5.48sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.48sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.49sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.49sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.49sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 5.49sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 5.49sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 5.49sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.49sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.49sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 5.49sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 5.49sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 5.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.50sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.50sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.60sWARNobjective_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 ×5 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571846 ms (missed cycles : 3). + 5.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441724.98810887 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 5.61sINFOobjective_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 ×10 + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571846 ms (missed cycles : 3).[0m ×2 + 5.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441724.99843431 seconds ×3 + 5.79sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.79sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.80sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.80sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.81sINFOros2-4process has finished cleanly [pid 9021] ×2 + 5.85sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 5.85sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 5.89sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.89sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.89sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.89sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.92sINFOros2_control_node[2026-07-30 20:02:05.294] [info] Controller state will be published at 20 Hz. ×2 + 5.92sINFOros2_control_node[2026-07-30 20:02:05.295] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.20sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441725.58319139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.27sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.27sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.27sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.27sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.27sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 6.27sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 6.30sINFOros2-8process has finished cleanly [pid 9025] ×2 + 6.32sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.32sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.32sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.32sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.32sINFOforce_torque_sensor_broadcasterconfigure successful + 6.33sINFOros2_control_nodeconfigure successful[0m ×2 + 6.33sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.33sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.33sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.33sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.62sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.62sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.62sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.62sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.66sINFOros2-2process has finished cleanly [pid 9019] ×2 + 6.67sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 6.67sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 6.72sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.72sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.72sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.72sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.75sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 6.75sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 7.11sINFOros2-7process has finished cleanly [pid 9024] ×2 + 7.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 7.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 8.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 9.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.8s | 54 warnings · 369 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.02sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.02sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.02sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.02sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.02sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.02sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.02sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.02sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.14sWARNobjective_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 ×7 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571846 ms (missed cycles : 3). + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441724.98810887 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.14sINFOobjective_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 ×14 + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571846 ms (missed cycles : 3).[0m ×2 + 0.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441724.99843431 seconds ×3 + 0.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.33sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.33sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.33sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.33sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.34sINFOros2-4process has finished cleanly [pid 9021] ×2 + 0.38sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.38sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.42sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.42sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.45sINFOros2_control_node[2026-07-30 20:02:05.294] [info] Controller state will be published at 20 Hz. ×2 + 0.45sINFOros2_control_node[2026-07-30 20:02:05.295] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441725.58319139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.80sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.80sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.81sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.83sINFOros2-8process has finished cleanly [pid 9025] ×2 + 0.85sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.85sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.85sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.86sINFOforce_torque_sensor_broadcasterconfigure successful + 0.86sINFOros2_control_nodeconfigure successful[0m ×2 + 0.86sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.86sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.87sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.87sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.15sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.15sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.15sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.20sINFOros2-2process has finished cleanly [pid 9019] ×2 + 1.21sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 1.21sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 1.25sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.25sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.25sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.25sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.28sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 1.28sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 1.64sINFOros2-7process has finished cleanly [pid 9024] ×2 + 1.80sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 2.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 5.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_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 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.32sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 5.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.33sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 5.33sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 51 warnings · 442 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.05sINFOros2-6process has finished cleanly [pid 9023] ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.07sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.07sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.07sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.08sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.08sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.11sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.39sINFOros2-5process has finished cleanly [pid 9022] ×2 + 0.41sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.41sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.66sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.66sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.66sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.66sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.66sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.67sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.68sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.68sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.68sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.68sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.68sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.68sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.68sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.68sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.68sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.68sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.68sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.68sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.68sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.69sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.69sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.80sWARNobjective_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 ×7 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571846 ms (missed cycles : 3). + 0.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441724.98810887 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.80sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.80sINFOobjective_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 ×14 + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571846 ms (missed cycles : 3).[0m ×2 + 0.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441724.99843431 seconds ×3 + 0.99sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.99sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.00sINFOros2-4process has finished cleanly [pid 9021] ×2 + 1.04sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 1.04sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 1.08sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.08sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.08sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.08sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.09sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.11sINFOros2_control_node[2026-07-30 20:02:05.294] [info] Controller state will be published at 20 Hz. ×2 + 1.11sINFOros2_control_node[2026-07-30 20:02:05.295] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441725.58319139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.46sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.46sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.46sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.47sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 1.47sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 1.49sINFOros2-8process has finished cleanly [pid 9025] ×2 + 1.51sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.51sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.51sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.51sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.52sINFOforce_torque_sensor_broadcasterconfigure successful + 1.52sINFOros2_control_nodeconfigure successful[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.52sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.52sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.53sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.81sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.81sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.81sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.81sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.85sINFOros2-2process has finished cleanly [pid 9019] ×2 + 1.86sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 1.86sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 1.91sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.91sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.91sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.91sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.94sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 1.94sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 2.30sINFOros2-7process has finished cleanly [pid 9024] ×2 + 2.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 5.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_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 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.98sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 5.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.99sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 5.99sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 145 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/2026-07-30-20-01-58-823698-13df83d19ad8-8970 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.21sINFOcontroller_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. + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856387 ms (missed cycles : 3). + 1.43sINFOros2_control_node-1process started with pid [9018] ×2 + 1.44sINFOmove_group-9process started with pid [9038] ×2 + 1.44sINFOparameter_manager_node-10process started with pid [9047] ×2 + 1.44sINFOwaypoint_manager_node-11process started with pid [9057] ×2 + 1.44sINFOmove_joint_resampler_node-12process started with pid [9058] ×2 + 1.44sINFOmove_end_effector_resampler_node-13process started with pid [9059] ×2 + 1.44sINFOobjective_server_node_main-14process started with pid [9060] ×2 + 1.44sINFOcomponent_container_mt-15process started with pid [9061] ×2 + 1.44sINFOcomponent_container_mt-16process started with pid [9062] ×2 + 1.44sINFOexecute_objective_bridge-17process started with pid [9063] ×2 + 1.44sINFOui_teleop_bridge-18process started with pid [9064] ×2 + 1.44sINFOweb_bridge-19process started with pid [9065] ×2 + 1.44sINFOtf2_web_republisher_node-20process started with pid [9179] ×2 + 1.44sINFOvideo_server-21process started with pid [9182] ×2 + 1.44sINFOweb_bridge_auth_proxy-22process started with pid [9183] ×2 + 1.44sINFOweb_video_auth_proxy-23process started with pid [9186] ×2 + 1.45sINFOros2-2process started with pid [9019] ×2 + 1.45sINFOros2-3process started with pid [9020] ×2 + 1.45sINFOros2-4process started with pid [9021] ×2 + 1.45sINFOros2-5process started with pid [9022] ×2 + 1.45sINFOros2-6process started with pid [9023] ×2 + 1.46sINFOros2-7process started with pid [9024] ×2 + 1.46sINFOros2-8process started with pid [9025] ×2 + 1.47sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.47sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.47sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.47sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.47sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.47sWARNros2_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 + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856387 ms (missed cycles : 3).[0m ×2 + 1.48sINFOcontroller_managerReceived robot description from topic. + 1.48sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.49sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.49sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.51sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.51sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.65sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.78sINFOvideo_server2026/07/30 20:02:01 INF MediaMTX v1.19.3, linux, amd64 ×2 + 1.78sINFOvideo_server2026/07/30 20:02:01 INF configuration loaded from /tmp/moveit-webrtc-eqd25dfy/mediamtx.yml ×2 + 1.78sINFOvideo_server2026/07/30 20:02:01 INF [RTSP] started with listeners on 127.0.0.1:13205 (TCP/RTSP) ×2 + 1.78sINFOvideo_server2026/07/30 20:02:01 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.46sINFOmove_group[2026-07-30 20:02:01.837] [moveit_pro_license] [info] ×2 + 2.46sINFOmove_group************************************************* ×4 + 2.46sINFOmove_group* MoveIt Pro License ×2 + 2.46sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.54sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.54sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.54sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.54sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985189 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985189 ms (missed cycles : 2).[0m ×2 + 2.55sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.55sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.73sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.77sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.77sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.77sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.77sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.78sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.78sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.78sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.83sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.88sINFOmove_group ×4 + 2.88sINFOmove_group[92mYou can start planning now![0m ×2 + 2.93sINFOwaypoint_manager_node[2026-07-30 20:02:02.309] [moveit_pro_license] [info] ×2 + 2.93sINFOwaypoint_manager_node************************************************* ×4 + 2.93sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.93sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.00sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 51 warnings · 366 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.02sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.02sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.02sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.02sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.02sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.02sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.02sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.02sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.14sWARNobjective_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 ×7 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571846 ms (missed cycles : 3). + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441724.98810887 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.14sINFOobjective_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 ×14 + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571846 ms (missed cycles : 3).[0m ×2 + 0.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441724.99843431 seconds ×3 + 0.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.33sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.33sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.33sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.33sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.34sINFOros2-4process has finished cleanly [pid 9021] ×2 + 0.38sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.38sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.42sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.42sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.45sINFOros2_control_node[2026-07-30 20:02:05.294] [info] Controller state will be published at 20 Hz. ×2 + 0.45sINFOros2_control_node[2026-07-30 20:02:05.295] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441725.58319139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.80sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.81sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.83sINFOros2-8process has finished cleanly [pid 9025] ×2 + 0.85sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.85sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.85sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.86sINFOforce_torque_sensor_broadcasterconfigure successful + 0.86sINFOros2_control_nodeconfigure successful[0m ×2 + 0.86sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.86sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.87sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.87sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.15sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.15sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.15sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.20sINFOros2-2process has finished cleanly [pid 9019] ×2 + 1.21sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 1.21sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 1.25sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.25sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.25sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.25sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.28sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 1.28sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 1.64sINFOros2-7process has finished cleanly [pid 9024] ×2 + 1.80sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 2.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 5.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_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 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.32sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 5.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.33sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 5.33sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 36 warnings · 281 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.09sINFOros2-8process has finished cleanly [pid 9025] ×2 + 0.11sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.11sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.11sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.12sINFOforce_torque_sensor_broadcasterconfigure successful + 0.12sINFOros2_control_nodeconfigure successful[0m ×2 + 0.12sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.12sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.45sINFOros2-2process has finished cleanly [pid 9019] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2-7process has finished cleanly [pid 9024] ×2 + 1.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.65sWARNobjective_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 ×5 + 1.65sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.65sINFOobjective_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 ×10 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 50 warnings · 471 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.02sWARNobjective_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 + 0.03sINFOros2-3process has finished cleanly [pid 9020] ×2 + 0.10sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.10sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.16sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.16sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.16sINFOros2_control_node[2026-07-30 20:02:03.918] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.16sINFOros2_control_node[2026-07-30 20:02:03.918] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.19sINFOros2_control_node[2026-07-30 20:02:03.949] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.19sINFOros2_control_node[2026-07-30 20:02:03.950] [info] Controller state will be published at 50 Hz. ×2 + 0.20sINFOros2_control_node[2026-07-30 20:02:03.956] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.43sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.43sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.43sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.43sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.43sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.48sINFOros2-6process has finished cleanly [pid 9023] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.49sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.49sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.49sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.50sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.50sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.50sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.50sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.50sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.50sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.51sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.51sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.54sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.82sINFOros2-5process has finished cleanly [pid 9022] ×2 + 0.83sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.83sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.09sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 1.09sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 1.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.11sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.11sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.11sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.11sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.22sWARNobjective_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 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571846 ms (missed cycles : 3). + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441724.98810887 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 1.23sINFOobjective_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 + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571846 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441724.99843431 seconds ×3 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.43sINFOros2-4process has finished cleanly [pid 9021] ×2 + 1.47sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 1.47sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 1.51sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.51sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.51sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.51sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.53sINFOros2_control_node[2026-07-30 20:02:05.294] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-07-30 20:02:05.295] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.82sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441725.58319139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.89sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.89sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.89sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.89sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.89sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 1.89sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 1.92sINFOros2-8process has finished cleanly [pid 9025] ×2 + 1.94sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.94sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.94sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.94sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.94sINFOforce_torque_sensor_broadcasterconfigure successful + 1.94sINFOros2_control_nodeconfigure successful[0m ×2 + 1.95sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.95sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.95sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.95sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.24sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.24sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.24sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.24sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.28sINFOros2-2process has finished cleanly [pid 9019] ×2 + 2.29sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 2.29sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 2.34sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.34sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.34sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.34sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.36sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 2.36sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 2.73sINFOros2-7process has finished cleanly [pid 9024] ×2 + 2.88sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 5.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 6.30sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sINFOobjective_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 + 6.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.40sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.42sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 50 warnings · 471 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.02sWARNobjective_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 + 0.03sINFOros2-3process has finished cleanly [pid 9020] ×2 + 0.10sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.10sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.16sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.16sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.16sINFOros2_control_node[2026-07-30 20:02:03.918] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.16sINFOros2_control_node[2026-07-30 20:02:03.918] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.19sINFOros2_control_node[2026-07-30 20:02:03.949] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.19sINFOros2_control_node[2026-07-30 20:02:03.950] [info] Controller state will be published at 50 Hz. ×2 + 0.20sINFOros2_control_node[2026-07-30 20:02:03.956] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.43sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.43sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.43sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.43sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.43sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.48sINFOros2-6process has finished cleanly [pid 9023] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.49sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.49sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.49sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.50sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.50sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.50sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.50sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.50sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.50sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.51sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.51sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.54sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.82sINFOros2-5process has finished cleanly [pid 9022] ×2 + 0.83sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.83sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.09sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 1.09sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 1.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.11sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.11sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.11sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.11sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.22sWARNobjective_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 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571846 ms (missed cycles : 3). + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441724.98810887 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 1.23sINFOobjective_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 + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571846 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441724.99843431 seconds ×3 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.43sINFOros2-4process has finished cleanly [pid 9021] ×2 + 1.47sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 1.47sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 1.51sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.51sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.51sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.51sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.53sINFOros2_control_node[2026-07-30 20:02:05.294] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-07-30 20:02:05.295] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.82sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441725.58319139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.89sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.89sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.89sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.89sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.89sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 1.89sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 1.92sINFOros2-8process has finished cleanly [pid 9025] ×2 + 1.94sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.94sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.94sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.94sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.94sINFOforce_torque_sensor_broadcasterconfigure successful + 1.94sINFOros2_control_nodeconfigure successful[0m ×2 + 1.95sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.95sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.95sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.95sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.24sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.24sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.24sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.24sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.28sINFOros2-2process has finished cleanly [pid 9019] ×2 + 2.29sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 2.29sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 2.34sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.34sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.34sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.34sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.36sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 2.36sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 2.73sINFOros2-7process has finished cleanly [pid 9024] ×2 + 2.88sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 5.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 6.30sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sINFOobjective_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 + 6.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.40sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.42sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 50 warnings · 471 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.02sWARNobjective_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 + 0.03sINFOros2-3process has finished cleanly [pid 9020] ×2 + 0.10sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.10sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.16sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.16sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.16sINFOros2_control_node[2026-07-30 20:02:03.918] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.16sINFOros2_control_node[2026-07-30 20:02:03.918] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.19sINFOros2_control_node[2026-07-30 20:02:03.949] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.19sINFOros2_control_node[2026-07-30 20:02:03.950] [info] Controller state will be published at 50 Hz. ×2 + 0.20sINFOros2_control_node[2026-07-30 20:02:03.956] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.43sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.43sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.43sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.43sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.43sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.48sINFOros2-6process has finished cleanly [pid 9023] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.49sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.49sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.49sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.50sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.50sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.50sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.50sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.50sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.50sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.51sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.51sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.54sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.82sINFOros2-5process has finished cleanly [pid 9022] ×2 + 0.83sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.83sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.09sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 1.09sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 1.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.10sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.10sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.11sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.11sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.11sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.11sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.22sWARNobjective_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 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571846 ms (missed cycles : 3). + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441724.98810887 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 1.23sINFOobjective_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 + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571846 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441724.99843431 seconds ×3 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.43sINFOros2-4process has finished cleanly [pid 9021] ×2 + 1.47sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 1.47sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 1.51sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.51sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.51sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.51sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.53sINFOros2_control_node[2026-07-30 20:02:05.294] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-07-30 20:02:05.295] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.82sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441725.58319139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.89sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.89sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.89sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.89sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.89sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 1.89sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 1.92sINFOros2-8process has finished cleanly [pid 9025] ×2 + 1.94sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.94sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.94sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.94sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.94sINFOforce_torque_sensor_broadcasterconfigure successful + 1.94sINFOros2_control_nodeconfigure successful[0m ×2 + 1.95sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.95sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.95sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.95sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.24sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.24sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.24sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.24sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.28sINFOros2-2process has finished cleanly [pid 9019] ×2 + 2.29sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 2.29sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 2.34sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.34sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.34sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.34sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.36sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 2.36sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 2.73sINFOros2-7process has finished cleanly [pid 9024] ×2 + 2.88sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 5.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 6.30sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sINFOobjective_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 + 6.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.40sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.42sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 48 warnings · 442 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.05sINFOros2-6process has finished cleanly [pid 9023] ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.07sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.07sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.07sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.08sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.08sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.11sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.39sINFOros2-5process has finished cleanly [pid 9022] ×2 + 0.41sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.41sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.66sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.66sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.66sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.66sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.66sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.67sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.68sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.68sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.68sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.68sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.68sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.68sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.68sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.68sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.68sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.68sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.68sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.68sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.68sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.69sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.69sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.80sWARNobjective_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 ×7 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571846 ms (missed cycles : 3). + 0.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441724.98810887 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.80sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.80sINFOobjective_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 ×14 + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571846 ms (missed cycles : 3).[0m ×2 + 0.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441724.99843431 seconds ×3 + 0.99sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.99sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.00sINFOros2-4process has finished cleanly [pid 9021] ×2 + 1.04sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 1.04sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 1.08sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.08sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.08sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.08sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.09sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.11sINFOros2_control_node[2026-07-30 20:02:05.294] [info] Controller state will be published at 20 Hz. ×2 + 1.11sINFOros2_control_node[2026-07-30 20:02:05.295] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441725.58319139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.46sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.46sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.46sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.47sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 1.47sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 1.49sINFOros2-8process has finished cleanly [pid 9025] ×2 + 1.51sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.51sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.51sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.51sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.52sINFOforce_torque_sensor_broadcasterconfigure successful + 1.52sINFOros2_control_nodeconfigure successful[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.52sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.52sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.53sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.81sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.81sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.81sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.81sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.85sINFOros2-2process has finished cleanly [pid 9019] ×2 + 1.86sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 1.86sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 1.91sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.91sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.91sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.91sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.94sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 1.94sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 2.30sINFOros2-7process has finished cleanly [pid 9024] ×2 + 2.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 5.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_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 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.98sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 5.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.99sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 5.99sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 36 warnings · 281 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.09sINFOros2-8process has finished cleanly [pid 9025] ×2 + 0.11sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.11sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.11sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.12sINFOforce_torque_sensor_broadcasterconfigure successful + 0.12sINFOros2_control_nodeconfigure successful[0m ×2 + 0.12sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.12sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.45sINFOros2-2process has finished cleanly [pid 9019] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2-7process has finished cleanly [pid 9024] ×2 + 1.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.65sWARNobjective_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 ×5 + 1.65sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.65sINFOobjective_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 ×10 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3).[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 | 36 warnings · 281 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.09sINFOros2-8process has finished cleanly [pid 9025] ×2 + 0.11sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.11sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.11sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.12sINFOforce_torque_sensor_broadcasterconfigure successful + 0.12sINFOros2_control_nodeconfigure successful[0m ×2 + 0.12sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.12sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.45sINFOros2-2process has finished cleanly [pid 9019] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2-7process has finished cleanly [pid 9024] ×2 + 1.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.65sWARNobjective_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 ×5 + 1.65sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.65sINFOobjective_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 ×10 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 36 warnings · 281 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.09sINFOros2-8process has finished cleanly [pid 9025] ×2 + 0.11sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.11sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.11sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.12sINFOforce_torque_sensor_broadcasterconfigure successful + 0.12sINFOros2_control_nodeconfigure successful[0m ×2 + 0.12sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.12sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.45sINFOros2-2process has finished cleanly [pid 9019] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2-7process has finished cleanly [pid 9024] ×2 + 1.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.65sWARNobjective_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 ×5 + 1.65sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.65sINFOobjective_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 ×10 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 36 warnings · 281 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.09sINFOros2-8process has finished cleanly [pid 9025] ×2 + 0.11sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.11sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.11sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.12sINFOforce_torque_sensor_broadcasterconfigure successful + 0.12sINFOros2_control_nodeconfigure successful[0m ×2 + 0.12sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.12sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.45sINFOros2-2process has finished cleanly [pid 9019] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2-7process has finished cleanly [pid 9024] ×2 + 1.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.65sWARNobjective_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 ×5 + 1.65sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.65sINFOobjective_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 ×10 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 36 warnings · 281 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.09sINFOros2-8process has finished cleanly [pid 9025] ×2 + 0.11sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.11sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.11sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.12sINFOforce_torque_sensor_broadcasterconfigure successful + 0.12sINFOros2_control_nodeconfigure successful[0m ×2 + 0.12sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.12sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.45sINFOros2-2process has finished cleanly [pid 9019] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2-7process has finished cleanly [pid 9024] ×2 + 1.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.65sWARNobjective_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 ×5 + 1.65sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.65sINFOobjective_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 ×10 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 36 warnings · 281 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.09sINFOros2-8process has finished cleanly [pid 9025] ×2 + 0.11sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.11sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.11sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.12sINFOforce_torque_sensor_broadcasterconfigure successful + 0.12sINFOros2_control_nodeconfigure successful[0m ×2 + 0.12sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.12sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.45sINFOros2-2process has finished cleanly [pid 9019] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2-7process has finished cleanly [pid 9024] ×2 + 1.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.65sWARNobjective_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 ×5 + 1.65sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.65sINFOobjective_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 ×10 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 36 warnings · 281 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.09sINFOros2-8process has finished cleanly [pid 9025] ×2 + 0.11sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.11sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.11sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.12sINFOforce_torque_sensor_broadcasterconfigure successful + 0.12sINFOros2_control_nodeconfigure successful[0m ×2 + 0.12sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.12sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.45sINFOros2-2process has finished cleanly [pid 9019] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2-7process has finished cleanly [pid 9024] ×2 + 1.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.65sWARNobjective_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 ×5 + 1.65sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.65sINFOobjective_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 ×10 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 36 warnings · 281 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.09sINFOros2-8process has finished cleanly [pid 9025] ×2 + 0.11sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.11sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.11sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.12sINFOforce_torque_sensor_broadcasterconfigure successful + 0.12sINFOros2_control_nodeconfigure successful[0m ×2 + 0.12sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.12sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.45sINFOros2-2process has finished cleanly [pid 9019] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2-7process has finished cleanly [pid 9024] ×2 + 1.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.65sWARNobjective_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 ×5 + 1.65sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.65sINFOobjective_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 ×10 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 36 warnings · 281 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.09sINFOros2-8process has finished cleanly [pid 9025] ×2 + 0.11sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.11sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.11sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.12sINFOforce_torque_sensor_broadcasterconfigure successful + 0.12sINFOros2_control_nodeconfigure successful[0m ×2 + 0.12sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.12sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.45sINFOros2-2process has finished cleanly [pid 9019] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2-7process has finished cleanly [pid 9024] ×2 + 1.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.65sWARNobjective_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 ×5 + 1.65sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.65sINFOobjective_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 ×10 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 36 warnings · 281 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.09sINFOros2-8process has finished cleanly [pid 9025] ×2 + 0.11sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.11sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.11sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.12sINFOforce_torque_sensor_broadcasterconfigure successful + 0.12sINFOros2_control_nodeconfigure successful[0m ×2 + 0.12sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.12sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.45sINFOros2-2process has finished cleanly [pid 9019] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2-7process has finished cleanly [pid 9024] ×2 + 1.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.65sWARNobjective_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 ×5 + 1.65sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.65sINFOobjective_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 ×10 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 36 warnings · 281 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.09sINFOros2-8process has finished cleanly [pid 9025] ×2 + 0.11sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.11sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.11sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.12sINFOforce_torque_sensor_broadcasterconfigure successful + 0.12sINFOros2_control_nodeconfigure successful[0m ×2 + 0.12sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.12sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.45sINFOros2-2process has finished cleanly [pid 9019] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2-7process has finished cleanly [pid 9024] ×2 + 1.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.65sWARNobjective_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 ×5 + 1.65sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.65sINFOobjective_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 ×10 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3).[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 · 292 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.09sINFOros2-8process has finished cleanly [pid 9025] ×2 + 0.11sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.11sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.11sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.12sINFOforce_torque_sensor_broadcasterconfigure successful + 0.12sINFOros2_control_nodeconfigure successful[0m ×2 + 0.12sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.12sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.45sINFOros2-2process has finished cleanly [pid 9019] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2-7process has finished cleanly [pid 9024] ×2 + 1.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.65sWARNobjective_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 ×5 + 1.65sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.65sINFOobjective_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 ×10 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3).[0m ×2 + 7.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.11sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 7.12sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.13sINFOros2_control_node[2026-07-30 20:02:12.717] [info] Received new action goal ×2 + 7.13sINFOros2_control_node[2026-07-30 20:02:12.717] [info] Accepted new action goal ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 36 warnings · 281 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.09sINFOros2-8process has finished cleanly [pid 9025] ×2 + 0.11sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.11sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.11sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.12sINFOforce_torque_sensor_broadcasterconfigure successful + 0.12sINFOros2_control_nodeconfigure successful[0m ×2 + 0.12sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.12sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.45sINFOros2-2process has finished cleanly [pid 9019] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2-7process has finished cleanly [pid 9024] ×2 + 1.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.65sWARNobjective_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 ×5 + 1.65sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.65sINFOobjective_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 ×10 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3).[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 | 36 warnings · 281 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.09sINFOros2-8process has finished cleanly [pid 9025] ×2 + 0.11sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.11sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.11sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.12sINFOforce_torque_sensor_broadcasterconfigure successful + 0.12sINFOros2_control_nodeconfigure successful[0m ×2 + 0.12sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.12sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.45sINFOros2-2process has finished cleanly [pid 9019] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2-7process has finished cleanly [pid 9024] ×2 + 1.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.65sWARNobjective_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 ×5 + 1.65sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.65sINFOobjective_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 ×10 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 36 warnings · 281 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.09sINFOros2-8process has finished cleanly [pid 9025] ×2 + 0.11sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.11sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.11sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.12sINFOforce_torque_sensor_broadcasterconfigure successful + 0.12sINFOros2_control_nodeconfigure successful[0m ×2 + 0.12sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.12sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.45sINFOros2-2process has finished cleanly [pid 9019] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2-7process has finished cleanly [pid 9024] ×2 + 1.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.65sWARNobjective_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 ×5 + 1.65sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.65sINFOobjective_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 ×10 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 36 warnings · 281 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.09sINFOros2-8process has finished cleanly [pid 9025] ×2 + 0.11sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.11sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.11sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.12sINFOforce_torque_sensor_broadcasterconfigure successful + 0.12sINFOros2_control_nodeconfigure successful[0m ×2 + 0.12sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.12sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.45sINFOros2-2process has finished cleanly [pid 9019] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_og64045k --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_46f8twh3 --params-file /tmp/launch_params_gb6j7ioc [0m ×2 + 0.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.124] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-07-30 20:02:06.125] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729744 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2-7process has finished cleanly [pid 9024] ×2 + 1.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441726.64334702 seconds ×3 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.65sWARNobjective_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 ×5 + 1.65sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.65sINFOobjective_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 ×10 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441727.24653864 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441727.30688000 seconds ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310117 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441727.94527388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441727.96549320 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391215 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441728.56194091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441728.71527219 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842950 ms (missed cycles : 4).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441729.38635373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441729.44649839 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441730.05990076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (1.763e-05 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-07-30 20:02:10.175] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325687 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367852 ms (missed cycles : 3).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142885 ms (missed cycles : 3).[0m ×2 | ||||