117
Total objective tests
34
Objectives passed
0
Objectives failed
83
Objectives skipped
7.9s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives30 pass54 skip
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.0s | 177 warnings · 301 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-05 11:45:12.513123112 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.00sINFOobjective_server_node[0;93m2026-08-05 11:45:12.513151130 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302175 ms (missed cycles : 5). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302175 ms (missed cycles : 5).[0m ×2 + 0.21sINFOobjective_server_node[2026-08-05 11:45:12.726] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.72sINFOobjective_server_node[0;93m2026-08-05 11:45:13.233989837 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.72sINFOobjective_server_node[0;93m2026-08-05 11:45:13.234020439 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.86sINFOobjective_server_node[2026-08-05 11:45:13.373] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.92sINFOobjective_server_node[0;93m2026-08-05 11:45:13.432273875 [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 + 0.92sINFOobjective_server_node[0;93m2026-08-05 11:45:13.435481429 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.92sINFOobjective_server_node[0;93m2026-08-05 11:45:13.435508051 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.94sINFOobjective_server_node[2026-08-05 11:45:13.453] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446846 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446846 ms (missed cycles : 2).[0m ×2 + 1.35sINFOobjective_server_node[0;93m2026-08-05 11:45:13.863971580 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.38sINFOobjective_server_node[0;93m2026-08-05 11:45:13.888757225 [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 + 1.38sINFOobjective_server_node[0;93m2026-08-05 11:45:13.888796971 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612485 ms (missed cycles : 4). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612485 ms (missed cycles : 4).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785930315.82152891 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395244 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395244 ms (missed cycles : 4).[0m ×2 + 3.98sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.98sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.98sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 4.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785930316.57068038 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.14sINFOobjective_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 + 4.15sINFOobjective_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 + 4.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.47sINFOros2_control_node[2026-08-05 11:45:16.979] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-05 11:45:16.979] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803604 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803604 ms (missed cycles : 2).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828603 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828603 ms (missed cycles : 2).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783394 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783394 ms (missed cycles : 2).[0m ×2 + 7.32sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 7.33sINFOros2_control_node[2026-08-05 11:45:19.846] [info] Received new action goal ×2 + 7.33sINFOros2_control_node[2026-08-05 11:45:19.846] [info] Accepted new action goal ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888570 ms (missed cycles : 2). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888570 ms (missed cycles : 2).[0m ×2 + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787626 ms (missed cycles : 2). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787626 ms (missed cycles : 2).[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006856 ms (missed cycles : 2). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006856 ms (missed cycles : 2).[0m ×2 + 9.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 10.49sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×12 + 10.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.51sINFOros2_control_node[2026-08-05 11:45:23.019] [info] Received new action goal ×2 + 10.51sINFOros2_control_node[2026-08-05 11:45:23.019] [info] Accepted new action goal ×2 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169807 ms (missed cycles : 2). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169807 ms (missed cycles : 2).[0m ×2 + 11.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.923831 ms (missed cycles : 6). + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.923831 ms (missed cycles : 6).[0m ×2 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592416 ms (missed cycles : 3). + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592416 ms (missed cycles : 3).[0m ×2 + 13.49sINFOobjective_server_nodeFound path in 0 iterations (4.35e-07 s). ×2 + 13.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.55sINFOros2_control_node[2026-08-05 11:45:26.058] [info] Received new action goal ×2 + 13.55sINFOros2_control_node[2026-08-05 11:45:26.058] [info] Accepted new action goal ×2 + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828157 ms (missed cycles : 2). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828157 ms (missed cycles : 2).[0m ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878222 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878222 ms (missed cycles : 2).[0m ×2 + 16.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605925 ms (missed cycles : 3). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605925 ms (missed cycles : 3).[0m ×2 + 16.51sINFOobjective_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 + 16.51sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.51sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.51sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.51sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376442 ms (missed cycles : 3). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376442 ms (missed cycles : 3).[0m ×2 + 18.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728597 ms (missed cycles : 2). + 18.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728597 ms (missed cycles : 2).[0m ×2 + 19.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840702 ms (missed cycles : 2). + 19.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840702 ms (missed cycles : 2).[0m ×2 + 20.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075196 ms (missed cycles : 2). + 20.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075196 ms (missed cycles : 2).[0m ×2 + 21.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 21.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563656 ms (missed cycles : 3). + 21.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563656 ms (missed cycles : 3).[0m ×2 + 22.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434122 ms (missed cycles : 4). + 22.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434122 ms (missed cycles : 4).[0m ×2 + 23.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697089 ms (missed cycles : 5). + 23.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697089 ms (missed cycles : 5).[0m ×2 + 24.03sINFOobjective_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 + 24.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.03sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 24.03sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 24.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.03sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 24.03sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 24.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.646005 ms (missed cycles : 6). + 24.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.646005 ms (missed cycles : 6).[0m ×2 + 24.91sINFOros2_control_node[2026-08-05 11:45:37.424] [info] Received new action goal ×2 + 24.91sINFOros2_control_node[2026-08-05 11:45:37.424] [info] Accepted new action goal ×2 + 25.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639003 ms (missed cycles : 2). + 25.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639003 ms (missed cycles : 2).[0m ×2 + 26.10sINFOobjective_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 + 26.11sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.39sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 26.44sINFOros2_control_node[2026-08-05 11:45:38.948] [info] Received new action goal ×2 + 26.44sINFOros2_control_node[2026-08-05 11:45:38.948] [info] Accepted new action goal ×2 + 26.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898158 ms (missed cycles : 2). + 26.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898158 ms (missed cycles : 2).[0m ×2 + 26.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×4 + 27.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513480 ms (missed cycles : 2). + 27.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513480 ms (missed cycles : 2).[0m ×2 + 28.73sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 28.73sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.74sINFOros2_control_node[2026-08-05 11:45:41.255] [info] Received new action goal ×2 + 28.74sINFOros2_control_node[2026-08-05 11:45:41.255] [info] Accepted new action goal ×2 + 29.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.715801 ms (missed cycles : 7). + 29.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.715801 ms (missed cycles : 7).[0m ×2 + 30.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.989836 ms (missed cycles : 5). + 30.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.989836 ms (missed cycles : 5).[0m ×2 + 31.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678593 ms (missed cycles : 3). + 31.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678593 ms (missed cycles : 3).[0m ×2 + 31.79sINFOros2_control_node[2026-08-05 11:45:44.305] [info] Received new action goal ×2 + 31.79sINFOros2_control_node[2026-08-05 11:45:44.305] [info] Accepted new action goal ×2 + 32.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×4 + 32.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139473 ms (missed cycles : 4). + 32.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139473 ms (missed cycles : 4).[0m ×2 + 33.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193583 ms (missed cycles : 5). + 33.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193583 ms (missed cycles : 5).[0m ×2 + 34.38sINFOobjective_server_nodeFound path in 0 iterations (4.87e-07 s). ×2 + 34.39sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.43sINFOros2_control_node[2026-08-05 11:45:46.939] [info] Received new action goal ×2 + 34.43sINFOros2_control_node[2026-08-05 11:45:46.939] [info] Accepted new action goal ×2 + 34.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070713 ms (missed cycles : 2). + 34.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070713 ms (missed cycles : 2).[0m ×2 + 36.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010721 ms (missed cycles : 4). + 36.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010721 ms (missed cycles : 4).[0m ×2 + 37.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681009 ms (missed cycles : 2). + 37.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681009 ms (missed cycles : 2).[0m ×2 + 38.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621616 ms (missed cycles : 2). + 38.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621616 ms (missed cycles : 2).[0m ×2 + 38.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 39.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596256 ms (missed cycles : 3). + 39.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596256 ms (missed cycles : 3).[0m ×2 + 40.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.181377 ms (missed cycles : 5). + 40.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.181377 ms (missed cycles : 5).[0m ×2 + 41.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731580 ms (missed cycles : 2). + 41.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731580 ms (missed cycles : 2).[0m ×2 + 42.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677469 ms (missed cycles : 2). + 42.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677469 ms (missed cycles : 2).[0m ×2 + 43.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552093 ms (missed cycles : 2). + 43.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552093 ms (missed cycles : 2).[0m ×2 + 43.78sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 44.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710694 ms (missed cycles : 2). + 44.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710694 ms (missed cycles : 2).[0m ×2 + 45.07sINFOros2_control_node[2026-08-05 11:45:57.584] [info] Received new action goal ×2 + 45.07sINFOros2_control_node[2026-08-05 11:45:57.585] [info] Accepted new action goal ×2 + 45.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034825 ms (missed cycles : 5). + 45.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034825 ms (missed cycles : 5).[0m ×2 + 46.23sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1785930358.74093914 seconds ×3 + 46.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170781 ms (missed cycles : 2). + 46.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170781 ms (missed cycles : 2).[0m ×2 + 47.11sINFOobjective_server_nodeObjective `Push Button` starting at time: 1785930359.62172103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216766 ms (missed cycles : 3). + 47.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216766 ms (missed cycles : 3).[0m ×2 + 48.32sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 48.34sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.35sINFOros2_control_node[2026-08-05 11:46:00.866] [info] Received new action goal ×2 + 48.35sINFOros2_control_node[2026-08-05 11:46:00.866] [info] Accepted new action goal ×2 + 48.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264789 ms (missed cycles : 3). + 48.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264789 ms (missed cycles : 3).[0m ×2 + 49.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905980 ms (missed cycles : 2). + 49.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905980 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 31.6s | 3 errors · 131 warnings · 259 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772700 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772700 ms (missed cycles : 3).[0m ×2 + 0.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967450 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967450 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155274 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155274 ms (missed cycles : 4).[0m ×2 + 2.73sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 2.79sINFOobjective_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 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.06sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 3.06sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1785930387.37457538 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.334598 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.334598 ms (missed cycles : 4).[0m ×2 + 3.66sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 3.66sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.66sINFOobjective_server_nodeError registering 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 + 3.71sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1785930388.02885437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 3.80sINFOobjective_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 ] + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 70 iterations (0.0164 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X____________________________X________________________________________X] ×2 + 3.99sINFOros2_control_node[2026-08-05 11:46:28.305] [info] Received new action goal ×2 + 3.99sINFOros2_control_node[2026-08-05 11:46:28.305] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186646 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186646 ms (missed cycles : 4).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134579 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134579 ms (missed cycles : 2).[0m ×2 + 6.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799260 ms (missed cycles : 2). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799260 ms (missed cycles : 2).[0m ×2 + 7.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245286 ms (missed cycles : 4). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245286 ms (missed cycles : 4).[0m ×2 + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941599 ms (missed cycles : 3). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941599 ms (missed cycles : 3).[0m ×2 + 10.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068806 ms (missed cycles : 2). + 10.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068806 ms (missed cycles : 2).[0m ×2 + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.938162 ms (missed cycles : 6). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.938162 ms (missed cycles : 6).[0m ×2 + 11.48sINFOobjective_server_node[2026-08-05 11:46:35.792] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 12.22sINFOobjective_server_node[0;m[0;93m2026-08-05 11:46:36.531272187 [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 + 12.22sINFOobjective_server_node[0;93m2026-08-05 11:46:36.531302479 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.00 s); wrist_camera (1.00 s). The render path has stopped producing new frames for them.[0m ×2 + 12.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443124 ms (missed cycles : 2). + 12.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443124 ms (missed cycles : 2).[0m ×2 + 12.38sINFOobjective_server_node[2026-08-05 11:46:36.700] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 12.90sINFOobjective_server_node[0;93m2026-08-05 11:46:37.218286261 [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 + 12.90sINFOobjective_server_node[0;93m2026-08-05 11:46:37.218319015 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.02sINFOobjective_server_node[2026-08-05 11:46:37.335] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.07sINFOobjective_server_node[0;93m2026-08-05 11:46:37.385968859 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 13.07sINFOobjective_server_node[0;93m2026-08-05 11:46:37.388793115 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 13.07sINFOobjective_server_node[0;93m2026-08-05 11:46:37.388817275 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.09sINFOobjective_server_node[2026-08-05 11:46:37.403] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211284 ms (missed cycles : 4). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211284 ms (missed cycles : 4).[0m ×2 + 13.46sINFOobjective_server_node[0;93m2026-08-05 11:46:37.777240681 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 13.49sINFOobjective_server_node[0;93m2026-08-05 11:46:37.806301127 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 13.49sINFOobjective_server_node[0;93m2026-08-05 11:46:37.806333096 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309024 ms (missed cycles : 2). + 14.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309024 ms (missed cycles : 2).[0m ×2 + 14.97sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067612 ms (missed cycles : 2). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067612 ms (missed cycles : 2).[0m ×2 + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955241 ms (missed cycles : 2). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955241 ms (missed cycles : 2).[0m ×2 + 17.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256116 ms (missed cycles : 4). + 17.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256116 ms (missed cycles : 4).[0m ×2 + 18.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 18.90sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 19.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065146 ms (missed cycles : 3). + 19.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065146 ms (missed cycles : 3).[0m ×2 + 19.23sINFOobjective_server_nodeFound path in 4 iterations (0.00437641 s). ×2 + 19.34sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 19.38sINFOobjective_server_nodeFound path in 12 iterations (0.00672861 s). ×2 + 19.47sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 19.51sINFOobjective_server_nodeFound path in 1 iterations (0.0037795 s). ×2 + 19.59sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] ×2 + 19.62sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 19.66sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 19.69sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 19.73sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 19.76sINFOobjective_server_nodeFound path in 12 iterations (0.00777674 s). ×2 + 19.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] ×2 + 19.88sINFOobjective_server_nodeFound path in 1 iterations (0.00628036 s). ×2 + 19.95sINFOobjective_server_nodePath shortcutter: [X______________________________X_____________________X] ×2 + 19.98sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 20.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 20.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667320 ms (missed cycles : 4). + 20.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667320 ms (missed cycles : 4).[0m ×2 + 20.06sINFOobjective_server_nodeFound path in 4 iterations (0.00703073 s). ×2 + 20.18sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 20.22sINFOobjective_server_nodeFound path in 4 iterations (0.00447858 s). ×2 + 20.34sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] ×2 + 20.38sINFOobjective_server_nodeFound path in 1 iterations (0.00746094 s). ×2 + 20.46sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 20.49sINFOobjective_server_nodeFound path in 1 iterations (0.00430717 s). ×2 + 20.60sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] ×2 + 20.63sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 20.69sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 20.72sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 20.83sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] ×2 + 20.88sINFOobjective_server_nodeFound path in 0 iterations (2.14e-07 s). ×2 + 21.03sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 21.08sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 21.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938182 ms (missed cycles : 3). + 21.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938182 ms (missed cycles : 3).[0m ×2 + 21.26sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________X] ×2 + 21.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 21.60sINFOros2_control_node[2026-08-05 11:46:45.917] [info] Received new action goal ×2 + 21.60sINFOros2_control_node[2026-08-05 11:46:45.917] [info] Accepted new action goal ×2 + 22.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743699 ms (missed cycles : 2). + 22.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743699 ms (missed cycles : 2).[0m ×2 + 23.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062067 ms (missed cycles : 2). + 23.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062067 ms (missed cycles : 2).[0m ×2 + 24.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636987 ms (missed cycles : 2). + 24.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636987 ms (missed cycles : 2).[0m ×2 + 25.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919962 ms (missed cycles : 2). + 25.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919962 ms (missed cycles : 2).[0m ×2 + 26.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×4 + 26.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836529 ms (missed cycles : 4). + 26.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836529 ms (missed cycles : 4).[0m ×2 + 26.59sINFOros2_control_node[2026-08-05 11:46:50.910] [info] Received new action goal ×2 + 26.59sINFOros2_control_node[2026-08-05 11:46:50.910] [info] Accepted new action goal ×2 + 27.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231955 ms (missed cycles : 3). + 27.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231955 ms (missed cycles : 3).[0m ×2 + 28.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 28.26sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 28.28sINFOros2_control_node[2026-08-05 11:46:52.593] [info] Received new action goal ×2 + 28.28sINFOros2_control_node[2026-08-05 11:46:52.593] [info] Accepted new action goal ×2 + 28.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480306 ms (missed cycles : 2). + 28.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480306 ms (missed cycles : 2).[0m ×2 + 29.49sWARNobjective_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 + 29.49sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 29.52sINFOros2_control_node[2026-08-05 11:46:53.834] [info] Received new action goal ×2 + 29.52sINFOros2_control_node[2026-08-05 11:46:53.834] [info] Accepted new action goal ×2 + 29.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997803 ms (missed cycles : 3). + 29.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997803 ms (missed cycles : 3).[0m ×2 + 30.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771903 ms (missed cycles : 2). + 30.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771903 ms (missed cycles : 2).[0m ×2 + 31.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400936 ms (missed cycles : 3). + 31.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400936 ms (missed cycles : 3).[0m ×2 + 31.98sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 32.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277436 ms (missed cycles : 4). + 32.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277436 ms (missed cycles : 4).[0m ×2 + 34.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418458 ms (missed cycles : 3). + 34.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418458 ms (missed cycles : 3).[0m ×2 + 34.70sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785930419.01904726 seconds ×3 + 34.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 34.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 34.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 34.81sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 34.81sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 34.81sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 35.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.970255 ms (missed cycles : 5). + 35.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.970255 ms (missed cycles : 5).[0m ×2 + 35.48sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785930419.79522491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.69sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 35.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 35.70sINFOros2_control_node[2026-08-05 11:47:00.019] [info] Received new action goal ×2 + 35.70sINFOros2_control_node[2026-08-05 11:47:00.019] [info] Accepted new action goal ×2 + 36.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873438 ms (missed cycles : 3). + 36.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873438 ms (missed cycles : 3).[0m ×2 + 36.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 37.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496820 ms (missed cycles : 6). + 37.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496820 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 14.6s | 3 errors · 80 warnings · 215 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016213 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016213 ms (missed cycles : 5).[0m ×2 + 0.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 0.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.05sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 1.05sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.06sINFOros2_control_node[2026-08-05 11:44:04.246] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-08-05 11:44:04.246] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182935 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182935 ms (missed cycles : 3).[0m ×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 + 1.73sINFOros2_control_node[2026-08-05 11:44:04.912] [info] Got request to cancel active goal. ×2 + 1.73sINFOros2_control_node[2026-08-05 11:44:04.912] [info] Canceling active goal... ×2 + 1.75sERRORobjective_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: 1785930244.92787004 seconds ×3 + 1.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722926 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722926 ms (missed cycles : 5).[0m ×2 + 2.34sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 2.34sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.34sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×8 + 2.34sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785930245.52719188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785930245.63731241 seconds ×3 + 3.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785930246.31367970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.31sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.33sINFOros2_control_node[2026-08-05 11:44:06.507] [info] Received new action goal ×2 + 3.33sINFOros2_control_node[2026-08-05 11:44:06.507] [info] Accepted new action goal ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524396 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524396 ms (missed cycles : 5).[0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763935 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763935 ms (missed cycles : 2).[0m ×2 + 5.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230339 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230339 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246425 ms (missed cycles : 5). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246425 ms (missed cycles : 5).[0m ×2 + 7.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.172718 ms (missed cycles : 7). + 7.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.172718 ms (missed cycles : 7).[0m ×2 + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764343 ms (missed cycles : 5). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764343 ms (missed cycles : 5).[0m ×2 + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299793 ms (missed cycles : 2). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299793 ms (missed cycles : 2).[0m ×2 + 10.79sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 10.79sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 10.80sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 11.09sINFOobjective_server_nodeFound path in 0 iterations (4.98e-07 s). ×2 + 11.09sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 11.10sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 11.11sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 11.12sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 11.16sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 11.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065944 ms (missed cycles : 2). + 11.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065944 ms (missed cycles : 2).[0m ×2 + 11.19sINFOobjective_server_nodeFound path in 1 iterations (0.0031494 s). ×2 + 11.28sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 11.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 11.37sINFOros2_control_node[2026-08-05 11:44:14.548] [info] Received new action goal ×2 + 11.37sINFOros2_control_node[2026-08-05 11:44:14.548] [info] Accepted new action goal ×2 + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820887 ms (missed cycles : 4). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820887 ms (missed cycles : 4).[0m ×2 + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358573 ms (missed cycles : 2). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358573 ms (missed cycles : 2).[0m ×2 + 13.84sINFOros2_control_node[2026-08-05 11:44:17.021] [info] Received new action goal ×2 + 13.84sINFOros2_control_node[2026-08-05 11:44:17.021] [info] Accepted new action goal ×2 + 14.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640020 ms (missed cycles : 4). + 14.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640020 ms (missed cycles : 4).[0m ×2 + 15.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361760 ms (missed cycles : 3). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361760 ms (missed cycles : 3).[0m ×2 + 15.69sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 15.69sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 15.70sINFOros2_control_node[2026-08-05 11:44:18.878] [info] Received new action goal ×2 + 15.70sINFOros2_control_node[2026-08-05 11:44:18.878] [info] Accepted new action goal ×2 + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.052672 ms (missed cycles : 7). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.052672 ms (missed cycles : 7).[0m ×2 + 17.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785930260.26474261 seconds ×3 + 17.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345076 ms (missed cycles : 2). + 17.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345076 ms (missed cycles : 2).[0m ×2 + 17.73sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785930260.91100073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.81sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785930260.99112129 seconds ×3 + 18.41sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785930261.58739376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.52sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 18.52sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 18.53sINFOros2_control_node[2026-08-05 11:44:21.711] [info] Received new action goal ×2 + 18.53sINFOros2_control_node[2026-08-05 11:44:21.711] [info] Accepted new action goal ×2 + 18.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789887 ms (missed cycles : 4). + 18.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789887 ms (missed cycles : 4).[0m ×2 + 19.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875260 ms (missed cycles : 2). + 19.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875260 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 3 errors · 69 warnings · 190 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714603 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714603 ms (missed cycles : 3).[0m ×2 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (1.96e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.32sINFOobjective_server_nodeFound path in 0 iterations (2.22e-07 s). ×2 + 0.37sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.39sINFOobjective_server_nodeFound path in 1 iterations (0.00292343 s). ×2 + 0.49sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.56sINFOros2_control_node[2026-08-05 11:44:51.503] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-08-05 11:44:51.503] [info] Accepted new action goal ×2 + 1.00sINFOros2_control_node[2026-08-05 11:44:51.946] [info] Received new action goal ×2 + 1.00sINFOros2_control_node[2026-08-05 11:44:51.946] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.695973 ms (missed cycles : 7). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.695973 ms (missed cycles : 7).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.987728 ms (missed cycles : 6). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.987728 ms (missed cycles : 6).[0m ×2 + 2.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.86sINFOobjective_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 + 2.86sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.87sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.87sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.87sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.90sERRORobjective_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: 1785930293.84038663 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828264 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828264 ms (missed cycles : 2).[0m ×2 + 3.62sWARNobjective_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 + 3.62sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.62sINFOobjective_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 + 3.69sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1785930294.63469410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 3.88sINFOros2_control_node[2026-08-05 11:44:54.818] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-08-05 11:44:54.818] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257359 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257359 ms (missed cycles : 4).[0m ×2 + 4.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645532 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645532 ms (missed cycles : 2).[0m ×2 + 5.35sINFOros2_control_nodeMuJoCo sim: 0.14% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOros2_control_node[2026-08-05 11:44:57.316] [info] Received new action goal ×2 + 6.38sINFOros2_control_node[2026-08-05 11:44:57.316] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515598 ms (missed cycles : 4). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515598 ms (missed cycles : 4).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544992 ms (missed cycles : 4). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544992 ms (missed cycles : 4).[0m ×2 + 8.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363154 ms (missed cycles : 3). + 8.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363154 ms (missed cycles : 3).[0m ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550601 ms (missed cycles : 4). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550601 ms (missed cycles : 4).[0m ×2 + 10.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856010 ms (missed cycles : 2). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856010 ms (missed cycles : 2).[0m ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521663 ms (missed cycles : 3). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521663 ms (missed cycles : 3).[0m ×2 + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001273 ms (missed cycles : 2). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001273 ms (missed cycles : 2).[0m ×2 + 14.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345240 ms (missed cycles : 2). + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345240 ms (missed cycles : 2).[0m ×2 + 14.95sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785930305.88763356 seconds ×3 + 15.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234809 ms (missed cycles : 2). + 15.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234809 ms (missed cycles : 2).[0m ×2 + 15.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 15.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785930306.55678725 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.65sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785930306.61693001 seconds ×3 + 16.27sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785930307.21399951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464981 ms (missed cycles : 2). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464981 ms (missed cycles : 2).[0m ×2 + 16.39sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 16.39sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.40sINFOros2_control_node[2026-08-05 11:45:07.338] [info] Received new action goal ×2 + 16.40sINFOros2_control_node[2026-08-05 11:45:07.338] [info] Accepted new action goal ×2 + 17.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138988 ms (missed cycles : 2). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138988 ms (missed cycles : 2).[0m ×2 + 18.40sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785930309.34414101 seconds ×3 + 18.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974324 ms (missed cycles : 2). + 18.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974324 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 15 errors · 71 warnings · 213 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552093 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552093 ms (missed cycles : 2).[0m ×2 + 0.59sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sINFOobjective_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 + 1.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.01sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.01sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.01sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710694 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710694 ms (missed cycles : 2).[0m ×2 + 1.87sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.87sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.89sINFOros2_control_node[2026-08-05 11:45:57.584] [info] Received new action goal ×2 + 1.89sINFOros2_control_node[2026-08-05 11:45:57.585] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034825 ms (missed cycles : 5). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034825 ms (missed cycles : 5).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1785930358.74093914 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170781 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170781 ms (missed cycles : 2).[0m ×2 + 3.78sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 3.78sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.78sINFOobjective_server_nodeError registering 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 + 3.92sINFOobjective_server_nodeObjective `Push Button` starting at time: 1785930359.62172103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216766 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216766 ms (missed cycles : 3).[0m ×2 + 5.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.17sINFOros2_control_node[2026-08-05 11:46:00.866] [info] Received new action goal ×2 + 5.17sINFOros2_control_node[2026-08-05 11:46:00.866] [info] Accepted new action goal ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264789 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264789 ms (missed cycles : 3).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905980 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905980 ms (missed cycles : 2).[0m ×2 + 6.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.549415 ms (missed cycles : 8). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.549415 ms (missed cycles : 8).[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141140 ms (missed cycles : 3). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141140 ms (missed cycles : 3).[0m ×2 + 8.86sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.86sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.86sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.87sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.87sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773321 ms (missed cycles : 4). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773321 ms (missed cycles : 4).[0m ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066354 ms (missed cycles : 5). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.066354 ms (missed cycles : 5).[0m ×2 + 11.26sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 11.27sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.28sINFOros2_control_node[2026-08-05 11:46:06.976] [info] Received new action goal ×2 + 11.28sINFOros2_control_node[2026-08-05 11:46:06.976] [info] Accepted new action goal ×2 + 11.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874506 ms (missed cycles : 5). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874506 ms (missed cycles : 5).[0m ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.028158 ms (missed cycles : 5). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.028158 ms (missed cycles : 5).[0m ×2 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051594 ms (missed cycles : 2). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051594 ms (missed cycles : 2).[0m ×2 + 14.88sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785930370.58188176 seconds ×3 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202900 ms (missed cycles : 2). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202900 ms (missed cycles : 2).[0m ×2 + 15.48sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785930371.18551040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.65sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 15.65sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.66sINFOros2_control_node[2026-08-05 11:46:11.359] [info] Received new action goal ×2 + 15.66sINFOros2_control_node[2026-08-05 11:46:11.359] [info] Accepted new action goal ×2 + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785683 ms (missed cycles : 3). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785683 ms (missed cycles : 3).[0m ×2 + 16.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 16.93sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961614 ms (missed cycles : 2). + 17.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961614 ms (missed cycles : 2).[0m ×2 + 17.35sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×15 + 17.36sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 17.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 18.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.490400 ms (missed cycles : 6). + 18.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.490400 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.6s | 65 errors · 54 warnings · 365 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148758 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148758 ms (missed cycles : 2).[0m ×2 + 0.85sINFOobjective_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 + 0.85sINFOros2_control_node[2026-08-05 11:47:54.808] [info] Got request to cancel active goal. ×2 + 0.85sINFOros2_control_node[2026-08-05 11:47:54.808] [info] Canceling active goal... ×2 + 0.85sERRORobjective_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: 1785930474.81224871 seconds ×3 + 0.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.88sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971815 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971815 ms (missed cycles : 3).[0m ×2 + 1.44sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 1.44sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.44sINFOobjective_server_nodeError registering 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 + 1.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785930475.40820909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785930476.02834940 seconds ×3 + 2.34sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942979 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942979 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785930476.63209748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.67sINFOobjective_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 + 2.67sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785930476.63391805 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.684201 ms (missed cycles : 6). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.684201 ms (missed cycles : 6).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785930477.33943105 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785930477.33991289 seconds ×3 + 3.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785930477.93440890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.892248 ms (missed cycles : 6). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.892248 ms (missed cycles : 6).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785930478.74453187 seconds ×3 + 4.82sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.750100 ms (missed cycles : 6). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.750100 ms (missed cycles : 6).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.438153 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.438153 ms (missed cycles : 6).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925795 ms (missed cycles : 3). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925795 ms (missed cycles : 3).[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239965 ms (missed cycles : 2). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239965 ms (missed cycles : 2).[0m ×2 + 8.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986303 ms (missed cycles : 2). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986303 ms (missed cycles : 2).[0m ×2 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392016 ms (missed cycles : 6). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392016 ms (missed cycles : 6).[0m ×2 + 11.03sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 11.05sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORweb_video_auth_proxy-23process has died [pid 10072, 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 + 11.06sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 11.07sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORweb_bridge_auth_proxy-22process has died [pid 10071, 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 + 11.08sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 11.10sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 11.12sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.13sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.14sINFOvideo_server-21process has finished cleanly [pid 10070] ×2 + 11.14sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.15sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.17sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.18sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.19sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.20sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.21sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.22sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.24sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.25sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.27sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.27sINFOcontroller_managerShutdown request received.... + 11.27sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.27sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.27sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.27sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.27sINFOvideo_server2026/08/05 11:48:05 INF shutting down gracefully ×2 + 11.27sINFOvideo_server2026/08/05 11:48:05 INF [WebRTC] closing ×2 + 11.27sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.27sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.27sINFOvideo_server2026/08/05 11:48:05 INF [RTSP] closing ×2 + 11.27sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.27sINFOvideo_server2026/08/05 11:48:05 INF waiting for running hooks ×2 + 11.27sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.27sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.27sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.27sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.27sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.27sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.27sINFOcontroller_managerShutting down the controller manager. + 11.27sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.27sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.27sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.27sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.27sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.27sERRORmove_groupStack trace (most recent call last) in thread 10310: ×2 + 11.28sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.28sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa3e24f0a63, in __clone ×2 + 11.28sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa3e2463aa3, in ×2 + 11.28sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa3e26f5db3, in ×2 + 11.28sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fa3e2e61ed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.28sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa3e2a87620, in rclcpp::Rate::sleep() ×2 + 11.28sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa3e29c9d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.28sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa3e298b087, in ×2 + 11.28sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa3e26c4390, in __cxa_throw ×2 + 11.28sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa3e26aea54, in std::terminate() ×2 + 11.28sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa3e26c40d9, in ×2 + 11.28sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa3e26aeff4, in ×2 + 11.28sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa3e23ef8fe, in abort ×2 + 11.28sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa3e240c27d, in raise ×2 + 11.28sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa3e2465b2c, in pthread_kill ×2 + 11.28sERRORmove_groupAborted (Signal sent by tkill() 9995 0) ×2 + 11.28sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.28sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.28sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.28sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.28sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.28sERRORmove_group-9process has died [pid 9995, 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_k81uebye --params-file /tmp/launch_params_9htoetak --params-file /tmp/launch_params_83zzb3e3 --params-file /tmp/launch_params_hraa1vr3 --params-file /tmp/launch_params_zucnwbhj --params-file /tmp/launch_params_ccpduj45']. ×2 + 11.28sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.28sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.28sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.28sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.28sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.28sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.28sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.28sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.28sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.28sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.28sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.28sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.28sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.28sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.28sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.48sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.48sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 12.16sINFOtf2_web_republisher_node-20process has finished cleanly [pid 10069] ×2 + 12.16sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 12.24sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9999] ×2 + 12.26sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9998] ×2 + 12.27sINFOcomponent_container_mt-16process has finished cleanly [pid 10002] ×2 + 12.27sINFOui_teleop_bridge-18process has finished cleanly [pid 10004] ×2 + 12.29sINFOexecute_objective_bridge-17process has finished cleanly [pid 10003] ×2 + 12.30sINFOwaypoint_manager_node-11process has finished cleanly [pid 9997] ×2 + 12.31sINFOparameter_manager_node-10process has finished cleanly [pid 9996] ×2 + 12.39sINFOobjective_server_node[0;m[2026-08-05 11:48:06.350] [moveit_pro_license] [info] ×2 + 12.39sINFOobjective_server_node************************************************* ×4 + 12.39sINFOobjective_server_node* MoveIt Pro License ×2 + 12.39sINFOobjective_server_node* Application has successfully terminated ×2 + 12.44sINFOobjective_server_nodecorrupted double-linked list ×2 + 12.44sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 12.46sINFOobjective_server_node#19 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.46sINFOobjective_server_node#18 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ff31ab1254, in _start ×2 + 12.46sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f25d15c328a, in __libc_start_main ×2 + 12.46sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f25d15c31d0, in ×2 + 12.46sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f25d15e0bbd, in exit ×2 + 12.46sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f25d15e0a75, in ×2 + 12.46sINFOobjective_server_node#13 Object "/opt/overlay_ws/install/moveit_pro_ml/lib/libmoveit_pro_ml.so", at 0x7f25a408a161, in Ort::detail::Base<OrtEnv>::~Base() ×2 + 12.46sINFOobjective_server_node#12 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.24.3", at 0x7f25949cd704, in ×2 + 12.46sINFOobjective_server_node#11 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.24.3", at 0x7f2594a44052, in ×2 + 12.46sINFOobjective_server_node#10 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.24.3", at 0x7f2595140176, in ×2 + 12.46sINFOobjective_server_node#9 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.24.3", at 0x7f259514009d, in ×2 + 12.46sINFOobjective_server_node#8 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f25d1646dcd, in __libc_free ×2 + 12.46sINFOobjective_server_node#7 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f25d1644439, in ×2 + 12.46sINFOobjective_server_node#6 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f25d1644024, in ×2 + 12.46sINFOobjective_server_node#5 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f25d1642b7b, in ×2 + 12.46sINFOobjective_server_node#4 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f25d1641ff4, in ×2 + 12.46sINFOobjective_server_node#3 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f25d15c27b5, in ×2 + 12.46sINFOobjective_server_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f25d15c18fe, in abort ×2 + 12.46sINFOobjective_server_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f25d15de27d, in raise ×2 + 12.46sINFOobjective_server_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f25d1637b2c, in pthread_kill ×2 + 12.46sERRORobjective_server_nodeAborted (Signal sent by tkill() 10000 0) ×2 + 12.90sERRORobjective_server_node_main-14process has died [pid 10000, exit code -6, 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_hwq7zmy7 --params-file /tmp/launch_params_yuce3l7e --params-file /tmp/launch_params_w7ffgwuo --params-file /tmp/launch_params_wn45qih3 --params-file /tmp/launch_params_tkutwmuf --params-file /tmp/launch_params_ne_ozyfw --params-file /tmp/launch_params_f7bs83vj --params-file /tmp/launch_params_54nu0ujk --params-file /tmp/launch_params_6toq5c9t']. ×2 + 12.90sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.36sINFOcomponent_container_mt-15process has finished cleanly [pid 10001] ×2 + 13.50sINFOweb_bridge-19process has finished cleanly [pid 10005] ×2 + 13.50sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.91sINFOros2_control_node-1process has finished cleanly [pid 9958] ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.2s | 6 errors · 81 warnings · 293 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389495 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389495 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671427 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671427 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785930462.31158376 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 2.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 2.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157639 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157639 ms (missed cycles : 3).[0m ×2 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×7 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 2.78sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×14 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785930462.91670203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.85sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.85sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785930462.99684596 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010502 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010502 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785930463.58741593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_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 + 3.48sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785930463.60970712 seconds ×3 + 4.18sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785930464.30775547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.30sINFOros2_control_node[2026-08-05 11:47:44.433] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-05 11:47:44.433] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767155 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767155 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.006622 ms (missed cycles : 8). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.006622 ms (missed cycles : 8).[0m ×2 + 5.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562723 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562723 ms (missed cycles : 3).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761507 ms (missed cycles : 3). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761507 ms (missed cycles : 3).[0m ×2 + 7.62sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.62sINFOros2_control_node[2026-08-05 11:47:47.751] [info] Received new action goal ×2 + 7.62sINFOros2_control_node[2026-08-05 11:47:47.751] [info] Accepted new action goal ×2 + 7.62sINFOros2_control_node[2026-08-05 11:47:47.751] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053751 ms (missed cycles : 2). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053751 ms (missed cycles : 2).[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924263 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924263 ms (missed cycles : 2).[0m ×2 + 10.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016156 ms (missed cycles : 4). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016156 ms (missed cycles : 4).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210297 ms (missed cycles : 4). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210297 ms (missed cycles : 4).[0m ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230630 ms (missed cycles : 2). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230630 ms (missed cycles : 2).[0m ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148758 ms (missed cycles : 2). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148758 ms (missed cycles : 2).[0m ×2 + 14.68sINFOros2_control_node[2026-08-05 11:47:54.808] [info] Got request to cancel active goal. ×2 + 14.68sINFOros2_control_node[2026-08-05 11:47:54.808] [info] Canceling active goal... ×2 + 14.68sERRORobjective_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: 1785930474.81224871 seconds ×3 + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971815 ms (missed cycles : 3). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971815 ms (missed cycles : 3).[0m ×2 + 15.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785930475.40820909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785930476.02834940 seconds ×3 + 16.17sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942979 ms (missed cycles : 3). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942979 ms (missed cycles : 3).[0m ×2 + 16.50sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785930476.63209748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.50sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.50sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.50sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.50sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785930476.63391805 seconds ×3 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.684201 ms (missed cycles : 6). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.684201 ms (missed cycles : 6).[0m ×2 + 17.21sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785930477.33943105 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.21sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785930477.33991289 seconds ×3 + 17.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 17.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785930477.93440890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 66 warnings · 154 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601610 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601610 ms (missed cycles : 4).[0m ×2 + 0.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.02sINFOros2_control_node[2026-08-05 11:44:29.759] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-08-05 11:44:29.759] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405699 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405699 ms (missed cycles : 4).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568421 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568421 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_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 + 3.07sINFOros2_control_node[2026-08-05 11:44:31.807] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-08-05 11:44:31.807] [info] Canceling active goal... ×2 + 3.08sERRORobjective_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: 1785930271.82024360 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316322 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316322 ms (missed cycles : 5).[0m ×2 + 3.70sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 3.70sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.70sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785930272.46089530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.92sINFOros2_control_node[2026-08-05 11:44:32.665] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-05 11:44:32.665] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.025348 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.025348 ms (missed cycles : 6).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198559 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198559 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775733 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775733 ms (missed cycles : 2).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.529235 ms (missed cycles : 6). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.529235 ms (missed cycles : 6).[0m ×2 + 7.79sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.79sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.80sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.07sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 8.07sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.08sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 8.09sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.10sINFOobjective_server_nodeFound path in 0 iterations (2.03e-07 s). ×2 + 8.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.15sINFOobjective_server_nodeFound path in 0 iterations (2.06e-07 s). ×2 + 8.18sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.21sINFOobjective_server_nodeFound path in 1 iterations (0.00268556 s). ×2 + 8.30sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.33sINFOobjective_server_nodeFound path in 1 iterations (0.00383583 s). ×2 + 8.41sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X___________________________X] ×2 + 8.44sINFOobjective_server_nodeFound path in 0 iterations (2.08e-07 s). ×2 + 8.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554711 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554711 ms (missed cycles : 2).[0m ×2 + 8.56sINFOobjective_server_nodeFound path in 0 iterations (2.07e-07 s). ×2 + 8.66sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.79sINFOros2_control_node[2026-08-05 11:44:37.528] [info] Received new action goal ×2 + 8.79sINFOros2_control_node[2026-08-05 11:44:37.528] [info] Accepted new action goal ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103200 ms (missed cycles : 3). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103200 ms (missed cycles : 3).[0m ×2 + 9.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959993 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959993 ms (missed cycles : 2).[0m ×2 + 11.21sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.49sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.49sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.49sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 11.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1785930280.25314307 seconds ×3 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377463 ms (missed cycles : 3). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377463 ms (missed cycles : 3).[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.879703 ms (missed cycles : 6). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.879703 ms (missed cycles : 6).[0m ×2 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.677884 ms (missed cycles : 6). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.677884 ms (missed cycles : 6).[0m ×2 + 14.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739631 ms (missed cycles : 6). + 14.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739631 ms (missed cycles : 6).[0m ×2 + 14.80sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1785930283.54668188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.99sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 15.00sINFOros2_control_node[2026-08-05 11:44:43.740] [info] Received new action goal ×2 + 15.00sINFOros2_control_node[2026-08-05 11:44:43.740] [info] Accepted new action goal ×2 + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181067 ms (missed cycles : 3). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181067 ms (missed cycles : 3).[0m ×2 + 16.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 16.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847361 ms (missed cycles : 2). + 16.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847361 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 77 warnings · 346 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.30sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.31sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 0.88sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 0.88sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.88sINFOobjective_server_nodeError registering 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 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 1.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_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 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4).[0m ×2 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2).[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.39sINFOros2_control_node[2026-08-05 11:43:57.146] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-08-05 11:43:57.146] [info] Accepted new action goal ×2 + 6.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315644 ms (missed cycles : 2). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315644 ms (missed cycles : 2).[0m ×2 + 8.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.401529 ms (missed cycles : 5). + 8.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.401529 ms (missed cycles : 5).[0m ×2 + 9.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882567 ms (missed cycles : 2). + 9.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882567 ms (missed cycles : 2).[0m ×2 + 10.12sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 10.14sINFOros2_control_node[2026-08-05 11:44:00.899] [info] Received new action goal ×2 + 10.14sINFOros2_control_node[2026-08-05 11:44:00.899] [info] Accepted new action goal ×2 + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025909 ms (missed cycles : 2). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025909 ms (missed cycles : 2).[0m ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.785980 ms (missed cycles : 5). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.785980 ms (missed cycles : 5).[0m ×2 + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016213 ms (missed cycles : 5). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016213 ms (missed cycles : 5).[0m ×2 + 12.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 13.47sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 13.48sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.49sINFOros2_control_node[2026-08-05 11:44:04.246] [info] Received new action goal ×2 + 13.49sINFOros2_control_node[2026-08-05 11:44:04.246] [info] Accepted new action goal ×2 + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182935 ms (missed cycles : 3). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182935 ms (missed cycles : 3).[0m ×2 + 14.15sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.15sINFOros2_control_node[2026-08-05 11:44:04.912] [info] Got request to cancel active goal. ×2 + 14.15sINFOros2_control_node[2026-08-05 11:44:04.912] [info] Canceling active goal... ×2 + 14.17sERRORobjective_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: 1785930244.92787004 seconds ×3 + 14.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722926 ms (missed cycles : 5). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722926 ms (missed cycles : 5).[0m ×2 + 14.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785930245.52719188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785930245.63731241 seconds ×3 + 15.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785930246.31367970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.74sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 15.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.75sINFOros2_control_node[2026-08-05 11:44:06.507] [info] Received new action goal ×2 + 15.75sINFOros2_control_node[2026-08-05 11:44:06.507] [info] Accepted new action goal ×2 + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524396 ms (missed cycles : 5). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524396 ms (missed cycles : 5).[0m ×2 + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763935 ms (missed cycles : 2). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763935 ms (missed cycles : 2).[0m ×2 + 17.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 74 warnings · 184 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475264 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475264 ms (missed cycles : 4).[0m ×2 + 0.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864102 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864102 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283122 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283122 ms (missed cycles : 3).[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1785930451.32684827 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629430 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629430 ms (missed cycles : 3).[0m ×2 + 3.75sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 3.75sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.75sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×8 + 3.76sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1785930451.94130850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-08-05 11:47:32.065] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-08-05 11:47:32.065] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394140 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394140 ms (missed cycles : 3).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019378 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019378 ms (missed cycles : 5).[0m ×2 + 5.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.79sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335399 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335399 ms (missed cycles : 4).[0m ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312285 ms (missed cycles : 3). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312285 ms (missed cycles : 3).[0m ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302031 ms (missed cycles : 2). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302031 ms (missed cycles : 2).[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634723 ms (missed cycles : 4). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634723 ms (missed cycles : 4).[0m ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761234 ms (missed cycles : 4). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761234 ms (missed cycles : 4).[0m ×2 + 11.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×4 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389495 ms (missed cycles : 3). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389495 ms (missed cycles : 3).[0m ×2 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671427 ms (missed cycles : 3). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671427 ms (missed cycles : 3).[0m ×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 + 14.13sERRORobjective_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: 1785930462.31158376 seconds ×3 + 14.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157639 ms (missed cycles : 3). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157639 ms (missed cycles : 3).[0m ×2 + 14.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785930462.91670203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.80sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.80sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.81sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785930462.99684596 seconds ×3 + 15.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010502 ms (missed cycles : 2). + 15.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010502 ms (missed cycles : 2).[0m ×2 + 15.40sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785930463.58741593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.43sINFOobjective_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 + 15.43sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785930463.60970712 seconds ×3 + 16.12sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785930464.30775547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.24sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×2 + 16.24sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.25sINFOros2_control_node[2026-08-05 11:47:44.433] [info] Received new action goal ×2 + 16.25sINFOros2_control_node[2026-08-05 11:47:44.433] [info] Accepted new action goal ×2 + 16.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767155 ms (missed cycles : 3). + 16.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767155 ms (missed cycles : 3).[0m ×2 + 17.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.006622 ms (missed cycles : 8). + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.006622 ms (missed cycles : 8).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 10.9s | 9 errors · 66 warnings · 178 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.28sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.28sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.28sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1785930280.25314307 seconds ×3 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377463 ms (missed cycles : 3). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377463 ms (missed cycles : 3).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.879703 ms (missed cycles : 6). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.879703 ms (missed cycles : 6).[0m ×2 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.677884 ms (missed cycles : 6). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.677884 ms (missed cycles : 6).[0m ×2 + 2.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.53sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739631 ms (missed cycles : 6). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739631 ms (missed cycles : 6).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1785930283.54668188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.79sINFOros2_control_node[2026-08-05 11:44:43.740] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-08-05 11:44:43.740] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181067 ms (missed cycles : 3). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181067 ms (missed cycles : 3).[0m ×2 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847361 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847361 ms (missed cycles : 2).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191210 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191210 ms (missed cycles : 2).[0m ×2 + 7.63sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.63sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.63sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.91sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2 + 7.91sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759105 ms (missed cycles : 6). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759105 ms (missed cycles : 6).[0m ×2 + 7.92sINFOobjective_server_nodeFound path in 0 iterations (1.85e-07 s). ×2 + 7.92sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.93sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 7.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.98sINFOobjective_server_nodeFound path in 0 iterations (1.97e-07 s). ×2 + 8.02sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.04sINFOobjective_server_nodeFound path in 1 iterations (0.00244634 s). ×2 + 8.14sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.17sINFOobjective_server_nodeFound path in 1 iterations (0.00468422 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X___________________________X] ×2 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (2.03e-07 s). ×2 + 8.37sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.40sINFOobjective_server_nodeFound path in 0 iterations (2.09e-07 s). ×2 + 8.49sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.62sINFOros2_control_node[2026-08-05 11:44:48.573] [info] Received new action goal ×2 + 8.62sINFOros2_control_node[2026-08-05 11:44:48.573] [info] Accepted new action goal ×2 + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785347 ms (missed cycles : 2). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785347 ms (missed cycles : 2).[0m ×2 + 9.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119655 ms (missed cycles : 2). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119655 ms (missed cycles : 2).[0m ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714603 ms (missed cycles : 3). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714603 ms (missed cycles : 3).[0m ×2 + 11.30sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 11.30sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.30sINFOobjective_server_nodeFound path in 0 iterations (1.96e-07 s). ×2 + 11.30sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 11.31sINFOobjective_server_nodeFound path in 0 iterations (2.22e-07 s). ×2 + 11.36sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 11.38sINFOobjective_server_nodeFound path in 1 iterations (0.00292343 s). ×2 + 11.48sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 11.55sINFOros2_control_node[2026-08-05 11:44:51.503] [info] Received new action goal ×2 + 11.55sINFOros2_control_node[2026-08-05 11:44:51.503] [info] Accepted new action goal ×2 + 11.99sINFOros2_control_node[2026-08-05 11:44:51.946] [info] Received new action goal ×2 + 11.99sINFOros2_control_node[2026-08-05 11:44:51.946] [info] Accepted new action goal ×2 + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.695973 ms (missed cycles : 7). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.695973 ms (missed cycles : 7).[0m ×2 + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.987728 ms (missed cycles : 6). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.987728 ms (missed cycles : 6).[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 + 13.85sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.85sINFOrobotiq_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 + 13.89sERRORobjective_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: 1785930293.84038663 seconds ×3 + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828264 ms (missed cycles : 2). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828264 ms (missed cycles : 2).[0m ×2 + 14.68sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1785930294.63469410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.85sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 14.87sINFOros2_control_node[2026-08-05 11:44:54.818] [info] Received new action goal ×2 + 14.87sINFOros2_control_node[2026-08-05 11:44:54.818] [info] Accepted new action goal ×2 + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257359 ms (missed cycles : 4). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257359 ms (missed cycles : 4).[0m ×2 + 15.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645532 ms (missed cycles : 2). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645532 ms (missed cycles : 2).[0m ×2 + 16.34sINFOros2_control_nodeMuJoCo sim: 0.14% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.36sINFOros2_control_node[2026-08-05 11:44:57.316] [info] Received new action goal ×2 + 17.36sINFOros2_control_node[2026-08-05 11:44:57.316] [info] Accepted new action goal ×2 + 17.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515598 ms (missed cycles : 4). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515598 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 3 errors · 71 warnings · 105 info |
+ 0.00sINFOros2_control_node[2026-08-05 11:47:06.424] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-05 11:47:06.424] [info] Accepted new action goal ×2 + 0.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707876 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707876 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456777 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456777 ms (missed cycles : 4).[0m ×2 + 1.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-05 11:47:08.338] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-05 11:47:08.338] [info] Accepted new action goal ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238349 ms (missed cycles : 2). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238349 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785930429.72539496 seconds ×3 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073655 ms (missed cycles : 5). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073655 ms (missed cycles : 5).[0m ×2 + 4.08sWARNobjective_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 + 4.08sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.08sINFOobjective_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 + 4.12sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785930430.54631758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.33sINFOros2_control_node[2026-08-05 11:47:10.750] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-08-05 11:47:10.750] [info] Accepted new action goal ×2 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361625 ms (missed cycles : 2). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361625 ms (missed cycles : 2).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209838 ms (missed cycles : 5). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209838 ms (missed cycles : 5).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698113 ms (missed cycles : 3). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698113 ms (missed cycles : 3).[0m ×2 + 8.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275306 ms (missed cycles : 4). + 8.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275306 ms (missed cycles : 4).[0m ×2 + 9.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598505 ms (missed cycles : 3). + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598505 ms (missed cycles : 3).[0m ×2 + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820384 ms (missed cycles : 2). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820384 ms (missed cycles : 2).[0m ×2 + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439384 ms (missed cycles : 2). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439384 ms (missed cycles : 2).[0m ×2 + 11.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 12.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339457 ms (missed cycles : 3). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339457 ms (missed cycles : 3).[0m ×2 + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539038 ms (missed cycles : 2). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539038 ms (missed cycles : 2).[0m ×2 + 14.38sINFOobjective_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 + 14.38sERRORobjective_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: 1785930440.80686307 seconds ×3 + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.430305 ms (missed cycles : 4). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.430305 ms (missed cycles : 4).[0m ×2 + 14.98sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1785930441.40691042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.27sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 15.27sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.29sINFOros2_control_node[2026-08-05 11:47:21.713] [info] Received new action goal ×2 + 15.29sINFOros2_control_node[2026-08-05 11:47:21.713] [info] Accepted new action goal ×2 + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921870 ms (missed cycles : 2). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921870 ms (missed cycles : 2).[0m ×2 + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363564 ms (missed cycles : 4). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363564 ms (missed cycles : 4).[0m ×2 + 17.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109343 ms (missed cycles : 2). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109343 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 66 warnings · 171 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361760 ms (missed cycles : 3). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361760 ms (missed cycles : 3).[0m ×2 + 0.46sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-08-05 11:44:18.878] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-08-05 11:44:18.878] [info] Accepted new action goal ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.052672 ms (missed cycles : 7). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.052672 ms (missed cycles : 7).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785930260.26474261 seconds ×3 + 1.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.88sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.88sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345076 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345076 ms (missed cycles : 2).[0m ×2 + 2.47sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 2.47sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.47sINFOobjective_server_nodeError registering 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 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785930260.91100073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785930260.99112129 seconds ×3 + 3.18sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785930261.58739376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 3.30sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.31sINFOros2_control_node[2026-08-05 11:44:21.711] [info] Received new action goal ×2 + 3.31sINFOros2_control_node[2026-08-05 11:44:21.711] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789887 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789887 ms (missed cycles : 4).[0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875260 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875260 ms (missed cycles : 2).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240355 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240355 ms (missed cycles : 4).[0m ×2 + 6.65sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 6.66sINFOros2_control_node[2026-08-05 11:44:25.061] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-08-05 11:44:25.061] [info] Accepted new action goal ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160803 ms (missed cycles : 2). + 6.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160803 ms (missed cycles : 2).[0m ×2 + 8.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.235966 ms (missed cycles : 5). + 8.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.235966 ms (missed cycles : 5).[0m ×2 + 8.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 8.99sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 9.00sINFOros2_control_node[2026-08-05 11:44:27.409] [info] Received new action goal ×2 + 9.00sINFOros2_control_node[2026-08-05 11:44:27.409] [info] Accepted new action goal ×2 + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842521 ms (missed cycles : 2). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842521 ms (missed cycles : 2).[0m ×2 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601610 ms (missed cycles : 4). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601610 ms (missed cycles : 4).[0m ×2 + 11.34sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 11.35sINFOros2_control_node[2026-08-05 11:44:29.759] [info] Received new action goal ×2 + 11.35sINFOros2_control_node[2026-08-05 11:44:29.759] [info] Accepted new action goal ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405699 ms (missed cycles : 4). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405699 ms (missed cycles : 4).[0m ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568421 ms (missed cycles : 4). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568421 ms (missed cycles : 4).[0m ×2 + 13.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.40sINFOros2_control_node[2026-08-05 11:44:31.807] [info] Got request to cancel active goal. ×2 + 13.40sINFOros2_control_node[2026-08-05 11:44:31.807] [info] Canceling active goal... ×2 + 13.41sERRORobjective_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: 1785930271.82024360 seconds ×3 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316322 ms (missed cycles : 5). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316322 ms (missed cycles : 5).[0m ×2 + 14.05sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785930272.46089530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 14.24sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 14.24sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.26sINFOros2_control_node[2026-08-05 11:44:32.665] [info] Received new action goal ×2 + 14.26sINFOros2_control_node[2026-08-05 11:44:32.665] [info] Accepted new action goal ×2 + 14.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.025348 ms (missed cycles : 6). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.025348 ms (missed cycles : 6).[0m ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198559 ms (missed cycles : 3). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198559 ms (missed cycles : 3).[0m ×2 + 16.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775733 ms (missed cycles : 2). + 16.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775733 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 68 warnings · 145 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400936 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400936 ms (missed cycles : 3).[0m ×2 + 0.71sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277436 ms (missed cycles : 4). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277436 ms (missed cycles : 4).[0m ×2 + 2.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418458 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418458 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785930419.01904726 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.970255 ms (missed cycles : 5). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.970255 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 + 4.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785930419.79522491 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 (2.53e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-08-05 11:47:00.019] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-05 11:47:00.019] [info] Accepted new action goal ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873438 ms (missed cycles : 3). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873438 ms (missed cycles : 3).[0m ×2 + 5.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496820 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496820 ms (missed cycles : 6).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948043 ms (missed cycles : 5). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948043 ms (missed cycles : 5).[0m ×2 + 7.84sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.84sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.85sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.12sINFOobjective_server_nodeFound path in 0 iterations (5.88e-07 s). ×2 + 8.12sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.13sINFOobjective_server_nodeFound path in 0 iterations (2.18e-07 s). ×2 + 8.13sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.15sINFOobjective_server_nodeFound path in 0 iterations (1.87e-07 s). ×2 + 8.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.21sINFOobjective_server_nodeFound path in 1 iterations (0.00276667 s). ×2 + 8.29sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.956582 ms (missed cycles : 5). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.956582 ms (missed cycles : 5).[0m ×2 + 8.35sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.36sINFOros2_control_node[2026-08-05 11:47:03.951] [info] Received new action goal ×2 + 8.36sINFOros2_control_node[2026-08-05 11:47:03.952] [info] Accepted new action goal ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.179701 ms (missed cycles : 8). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.179701 ms (missed cycles : 8).[0m ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704684 ms (missed cycles : 2). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704684 ms (missed cycles : 2).[0m ×2 + 10.84sINFOros2_control_node[2026-08-05 11:47:06.424] [info] Received new action goal ×2 + 10.84sINFOros2_control_node[2026-08-05 11:47:06.424] [info] Accepted new action goal ×2 + 11.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×4 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707876 ms (missed cycles : 2). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707876 ms (missed cycles : 2).[0m ×2 + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456777 ms (missed cycles : 4). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456777 ms (missed cycles : 4).[0m ×2 + 12.74sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 12.74sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.75sINFOros2_control_node[2026-08-05 11:47:08.338] [info] Received new action goal ×2 + 12.75sINFOros2_control_node[2026-08-05 11:47:08.338] [info] Accepted new action goal ×2 + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238349 ms (missed cycles : 2). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238349 ms (missed cycles : 2).[0m ×2 + 14.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785930429.72539496 seconds ×3 + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073655 ms (missed cycles : 5). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073655 ms (missed cycles : 5).[0m ×2 + 14.96sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785930430.54631758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.15sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 15.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.16sINFOros2_control_node[2026-08-05 11:47:10.750] [info] Received new action goal ×2 + 15.16sINFOros2_control_node[2026-08-05 11:47:10.750] [info] Accepted new action goal ×2 + 15.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361625 ms (missed cycles : 2). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361625 ms (missed cycles : 2).[0m ×2 + 16.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209838 ms (missed cycles : 5). + 16.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209838 ms (missed cycles : 5).[0m ×2 + 17.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 10.7s | 21 errors · 71 warnings · 258 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'. ×10 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.490400 ms (missed cycles : 6). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.490400 ms (missed cycles : 6).[0m ×2 + 0.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785930374.25428915 seconds ×3 + 0.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×3 + 0.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×6 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×11 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×3 + 0.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×6 + 0.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×3 + 1.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×6 + 1.56sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 1.56sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 1.56sINFOobjective_server_nodeError registering 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 + 1.60sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785930374.88221359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830099 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830099 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_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 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×3 + 1.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×3 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×6 + 1.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×6 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 1.75sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 1.75sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 1.76sINFOros2_control_node[2026-08-05 11:46:15.046] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-08-05 11:46:15.046] [info] Accepted new action goal ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852996 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852996 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 3.08sINFOobjective_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 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.35sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785930376.63332462 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172929 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172929 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785930377.25673175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (6.64e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.16sINFOros2_control_node[2026-08-05 11:46:17.441] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-08-05 11:46:17.441] [info] Accepted new action goal ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.227379 ms (missed cycles : 5). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.227379 ms (missed cycles : 5).[0m ×2 + 5.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393782 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393782 ms (missed cycles : 3).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361614 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361614 ms (missed cycles : 2).[0m ×2 + 7.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 7.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 7.47sINFOros2_control_node[2026-08-05 11:46:20.749] [info] Received new action goal ×2 + 7.47sINFOros2_control_node[2026-08-05 11:46:20.749] [info] Accepted new action goal ×2 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594150 ms (missed cycles : 3). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594150 ms (missed cycles : 3).[0m ×2 + 8.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777825 ms (missed cycles : 2). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777825 ms (missed cycles : 2).[0m ×2 + 9.50sINFOros2_control_node[2026-08-05 11:46:22.780] [info] Received new action goal ×2 + 9.50sINFOros2_control_node[2026-08-05 11:46:22.780] [info] Accepted new action goal ×2 + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894913 ms (missed cycles : 3). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894913 ms (missed cycles : 3).[0m ×2 + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772700 ms (missed cycles : 3). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772700 ms (missed cycles : 3).[0m ×2 + 11.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967450 ms (missed cycles : 2). + 12.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967450 ms (missed cycles : 2).[0m ×2 + 13.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155274 ms (missed cycles : 4). + 13.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155274 ms (missed cycles : 4).[0m ×2 + 14.09sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1785930387.37457538 seconds ×3 + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.334598 ms (missed cycles : 4). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.334598 ms (missed cycles : 4).[0m ×2 + 14.74sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1785930388.02885437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 14.95sINFOobjective_server_nodeFound path in 70 iterations (0.0164 s). ×2 + 15.00sINFOobjective_server_nodePath shortcutter: [X____________________________X________________________________________X] ×2 + 15.02sINFOros2_control_node[2026-08-05 11:46:28.305] [info] Received new action goal ×2 + 15.02sINFOros2_control_node[2026-08-05 11:46:28.305] [info] Accepted new action goal ×2 + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186646 ms (missed cycles : 4). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186646 ms (missed cycles : 4).[0m ×2 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134579 ms (missed cycles : 2). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134579 ms (missed cycles : 2).[0m ×2 + 17.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 68 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439384 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439384 ms (missed cycles : 2).[0m ×2 + 0.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339457 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339457 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539038 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539038 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_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 + 3.19sERRORobjective_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: 1785930440.80686307 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.430305 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.430305 ms (missed cycles : 4).[0m ×2 + 3.79sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 3.79sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.79sINFOobjective_server_nodeError registering 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 + 3.79sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1785930441.40691042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.10sINFOros2_control_node[2026-08-05 11:47:21.713] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-08-05 11:47:21.713] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921870 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921870 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363564 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363564 ms (missed cycles : 4).[0m ×2 + 5.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109343 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109343 ms (missed cycles : 2).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392358 ms (missed cycles : 3). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392358 ms (missed cycles : 3).[0m ×2 + 8.12sINFOros2_control_node[2026-08-05 11:47:25.735] [info] Received new action goal ×2 + 8.12sINFOros2_control_node[2026-08-05 11:47:25.735] [info] Accepted new action goal ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134781 ms (missed cycles : 4). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134781 ms (missed cycles : 4).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610798 ms (missed cycles : 3). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610798 ms (missed cycles : 3).[0m ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475264 ms (missed cycles : 4). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475264 ms (missed cycles : 4).[0m ×2 + 11.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864102 ms (missed cycles : 3). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864102 ms (missed cycles : 3).[0m ×2 + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283122 ms (missed cycles : 3). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283122 ms (missed cycles : 3).[0m ×2 + 13.71sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1785930451.32684827 seconds ×3 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629430 ms (missed cycles : 3). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629430 ms (missed cycles : 3).[0m ×2 + 14.33sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1785930451.94130850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.44sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 14.45sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.45sINFOros2_control_node[2026-08-05 11:47:32.065] [info] Received new action goal ×2 + 14.45sINFOros2_control_node[2026-08-05 11:47:32.065] [info] Accepted new action goal ×2 + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394140 ms (missed cycles : 3). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394140 ms (missed cycles : 3).[0m ×2 + 15.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019378 ms (missed cycles : 5). + 15.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019378 ms (missed cycles : 5).[0m ×2 + 16.36sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 16.36sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335399 ms (missed cycles : 4). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335399 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 5.5s | 49 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: 1785930307.21399951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464981 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464981 ms (missed cycles : 2).[0m ×2 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.13sINFOros2_control_node[2026-08-05 11:45:07.338] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-08-05 11:45:07.338] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138988 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138988 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785930309.34414101 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974324 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974324 ms (missed cycles : 2).[0m ×2 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114656 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114656 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785930310.96470141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937278 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937278 ms (missed cycles : 5).[0m ×2 + 4.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.48sINFOobjective_server_node[2026-08-05 11:45:11.688] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.31sINFOobjective_server_node[0;93m2026-08-05 11:45:12.513123112 [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 + 5.31sINFOobjective_server_node[0;93m2026-08-05 11:45:12.513151130 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302175 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302175 ms (missed cycles : 5).[0m ×2 + 5.52sINFOobjective_server_node[2026-08-05 11:45:12.726] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.03sINFOobjective_server_node[0;93m2026-08-05 11:45:13.233989837 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.03sINFOobjective_server_node[0;93m2026-08-05 11:45:13.234020439 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.17sINFOobjective_server_node[2026-08-05 11:45:13.373] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.22sINFOobjective_server_node[0;93m2026-08-05 11:45:13.432273875 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 6.23sINFOobjective_server_node[0;93m2026-08-05 11:45:13.435481429 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.23sINFOobjective_server_node[0;93m2026-08-05 11:45:13.435508051 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.25sINFOobjective_server_node[2026-08-05 11:45:13.453] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446846 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446846 ms (missed cycles : 2).[0m ×2 + 6.66sINFOobjective_server_node[0;93m2026-08-05 11:45:13.863971580 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 6.68sINFOobjective_server_node[0;93m2026-08-05 11:45:13.888757225 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.68sINFOobjective_server_node[0;93m2026-08-05 11:45:13.888796971 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612485 ms (missed cycles : 4). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612485 ms (missed cycles : 4).[0m ×2 + 8.61sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785930315.82152891 seconds ×3 + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395244 ms (missed cycles : 4). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395244 ms (missed cycles : 4).[0m ×2 + 9.36sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785930316.57068038 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 9.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 9.44sINFOobjective_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 + 9.45sINFOobjective_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 + 9.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 9.73sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 9.73sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 9.77sINFOros2_control_node[2026-08-05 11:45:16.979] [info] Received new action goal ×2 + 9.77sINFOros2_control_node[2026-08-05 11:45:16.979] [info] Accepted new action goal ×2 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803604 ms (missed cycles : 2). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803604 ms (missed cycles : 2).[0m ×2 + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828603 ms (missed cycles : 2). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828603 ms (missed cycles : 2).[0m ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783394 ms (missed cycles : 2). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783394 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 43 warnings · 162 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001273 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001273 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345240 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345240 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785930305.88763356 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234809 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234809 ms (missed cycles : 2).[0m ×2 + 2.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 2.41sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 2.42sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.42sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785930306.55678725 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeError registering 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 + 2.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.47sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.47sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785930306.61693001 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785930307.21399951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464981 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464981 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.20sINFOros2_control_node[2026-08-05 11:45:07.338] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-08-05 11:45:07.338] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138988 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138988 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785930309.34414101 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974324 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974324 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114656 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114656 ms (missed cycles : 4).[0m ×2 + 6.83sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785930310.96470141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937278 ms (missed cycles : 5). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937278 ms (missed cycles : 5).[0m ×2 + 7.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 7.55sINFOobjective_server_node[2026-08-05 11:45:11.688] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.38sINFOobjective_server_node[0;93m2026-08-05 11:45:12.513123112 [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 + 8.38sINFOobjective_server_node[0;93m2026-08-05 11:45:12.513151130 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302175 ms (missed cycles : 5). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302175 ms (missed cycles : 5).[0m ×2 + 8.59sINFOobjective_server_node[2026-08-05 11:45:12.726] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.10sINFOobjective_server_node[0;93m2026-08-05 11:45:13.233989837 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.10sINFOobjective_server_node[0;93m2026-08-05 11:45:13.234020439 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.24sINFOobjective_server_node[2026-08-05 11:45:13.373] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.30sINFOobjective_server_node[0;93m2026-08-05 11:45:13.432273875 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 9.30sINFOobjective_server_node[0;93m2026-08-05 11:45:13.435481429 [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 + 9.30sINFOobjective_server_node[0;93m2026-08-05 11:45:13.435508051 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.32sINFOobjective_server_node[2026-08-05 11:45:13.453] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446846 ms (missed cycles : 2). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446846 ms (missed cycles : 2).[0m ×2 + 9.73sINFOobjective_server_node[0;93m2026-08-05 11:45:13.863971580 [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 + 9.75sINFOobjective_server_node[0;93m2026-08-05 11:45:13.888757225 [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 + 9.75sINFOobjective_server_node[0;93m2026-08-05 11:45:13.888796971 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 3.7s | 21 errors · 43 warnings · 233 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874506 ms (missed cycles : 5). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874506 ms (missed cycles : 5).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.028158 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.028158 ms (missed cycles : 5).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051594 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051594 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785930370.58188176 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202900 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202900 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 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.72sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 3.73sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785930371.18551040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.90sINFOros2_control_node[2026-08-05 11:46:11.359] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-08-05 11:46:11.359] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785683 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785683 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 5.18sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961614 ms (missed cycles : 2). + 5.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961614 ms (missed cycles : 2).[0m ×2 + 5.59sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 5.61sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 6.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.490400 ms (missed cycles : 6). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.490400 ms (missed cycles : 6).[0m ×2 + 6.80sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785930374.25428915 seconds ×3 + 6.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 6.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 6.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 6.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 6.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 6.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 7.42sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785930374.88221359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830099 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830099 ms (missed cycles : 2).[0m ×2 + 7.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 7.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 7.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 7.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 7.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 7.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.57sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 7.59sINFOros2_control_node[2026-08-05 11:46:15.046] [info] Received new action goal ×2 + 7.59sINFOros2_control_node[2026-08-05 11:46:15.046] [info] Accepted new action goal ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852996 ms (missed cycles : 2). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852996 ms (missed cycles : 2).[0m ×2 + 9.18sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785930376.63332462 seconds ×3 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172929 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172929 ms (missed cycles : 2).[0m ×2 + 9.80sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785930377.25673175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.97sINFOobjective_server_nodeFound path in 0 iterations (6.64e-07 s). ×2 + 9.97sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 9.98sINFOros2_control_node[2026-08-05 11:46:17.441] [info] Received new action goal ×2 + 9.98sINFOros2_control_node[2026-08-05 11:46:17.441] [info] Accepted new action goal ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 2.4s | 21 errors · 40 warnings · 205 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 `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785930371.18551040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 0.19sINFOros2_control_node[2026-08-05 11:46:11.359] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-08-05 11:46:11.359] [info] Accepted new action goal ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785683 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785683 ms (missed cycles : 3).[0m ×2 + 1.45sINFOobjective_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 + 1.46sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 1.53sINFOobjective_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 + 1.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 1.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961614 ms (missed cycles : 2). + 1.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961614 ms (missed cycles : 2).[0m ×2 + 1.88sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 1.89sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 2.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.490400 ms (missed cycles : 6). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.490400 ms (missed cycles : 6).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785930374.25428915 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.71sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785930374.88221359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830099 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830099 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_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 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 3.87sINFOros2_control_node[2026-08-05 11:46:15.046] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-08-05 11:46:15.046] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852996 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852996 ms (missed cycles : 2).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785930376.63332462 seconds ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172929 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172929 ms (missed cycles : 2).[0m ×2 + 6.08sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785930377.25673175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.26sINFOobjective_server_nodeFound path in 0 iterations (6.64e-07 s). ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 6.27sINFOros2_control_node[2026-08-05 11:46:17.441] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-08-05 11:46:17.441] [info] Accepted new action goal ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.227379 ms (missed cycles : 5). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.227379 ms (missed cycles : 5).[0m ×2 + 7.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393782 ms (missed cycles : 3). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393782 ms (missed cycles : 3).[0m ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361614 ms (missed cycles : 2). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361614 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.6s | 57 warnings · 535 info |
+ 0.00sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.00sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.00sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.00sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.00sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.00sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.00sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.00sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.00sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.00sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.00sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.00sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.00sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.00sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676642 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676642 ms (missed cycles : 2).[0m ×2 + 0.17sINFOcomponent_container_mt[2026-08-05 11:43:46.434] [moveit_pro_license] [info] ×2 + 0.17sINFOcomponent_container_mt************************************************* ×4 + 0.17sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.17sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.25sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.25sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.25sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.25sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.43sWARNobjective_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 + 0.45sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 + 0.45sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 + 0.47sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.47sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.47sINFOros2_control_node[2026-08-05 11:43:46.736] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.47sINFOros2_control_node[2026-08-05 11:43:46.736] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.50sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.51sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.52sINFOros2_control_node[2026-08-05 11:43:46.790] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.52sINFOros2_control_node[2026-08-05 11:43:46.790] [info] Controller state will be published at 50 Hz. ×2 + 0.53sINFOros2_control_node[2026-08-05 11:43:46.797] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.77sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.77sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.77sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.77sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 + 0.77sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 + 0.84sINFOros2-6process has finished cleanly [pid 9963] ×2 + 0.85sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.85sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.85sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.85sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.85sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.85sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.85sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.85sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.85sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.86sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.86sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.86sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.87sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.87sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861131 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861131 ms (missed cycles : 4).[0m ×2 + 1.17sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.17sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.20sINFOros2-5process has finished cleanly [pid 9962] ×2 + 1.24sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 + 1.25sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 + 1.29sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.29sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.33sINFOros2_control_node[2026-08-05 11:43:47.596] [info] Controller state will be published at 20 Hz. ×2 + 1.33sINFOros2_control_node[2026-08-05 11:43:47.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.64sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.64sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.64sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.64sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 + 1.64sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 + 1.68sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.68sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.69sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.69sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.69sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.69sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.69sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.69sINFOros2-8process has finished cleanly [pid 9965] ×2 + 1.69sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.69sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.70sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.70sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.73sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.73sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.92sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.02sINFOros2-4process has finished cleanly [pid 9961] ×2 + 2.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 + 2.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 + 2.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.11sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.11sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.11sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.13sINFOros2_control_node[2026-08-05 11:43:48.400] [info] Controller state will be published at 10 Hz. ×2 + 2.13sINFOros2_control_node[2026-08-05 11:43:48.401] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235727 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235727 ms (missed cycles : 4).[0m ×2 + 2.46sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.46sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.46sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.46sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.46sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 + 2.46sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 + 2.49sINFOros2-7process has finished cleanly [pid 9964] ×2 + 2.51sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.51sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.51sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.51sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.52sINFOforce_torque_sensor_broadcasterconfigure successful + 2.52sINFOros2_control_nodeconfigure successful[0m ×2 + 2.52sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.52sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.53sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.53sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.83sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.83sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.83sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.83sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.84sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 + 2.84sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 + 2.85sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.85sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.86sINFOros2-2process has finished cleanly [pid 9959] ×2 + 2.88sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.88sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.88sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.88sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.88sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.88sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.89sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.89sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[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 ×7 + 3.09sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 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 ×14 + 3.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785930229.36587191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785930229.37606335 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.21sINFOros2-3process has finished cleanly [pid 9960] ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.535517 ms (missed cycles : 6). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.535517 ms (missed cycles : 6).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785930229.96617842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 6.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 7.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 8.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.25sINFOobjective_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 + 8.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.35sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 8.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.37sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 8.37sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 3 errors · 38 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210297 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210297 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230630 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230630 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148758 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148758 ms (missed cycles : 2).[0m ×2 + 2.95sINFOobjective_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 + 2.95sINFOros2_control_node[2026-08-05 11:47:54.808] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-08-05 11:47:54.808] [info] Canceling active goal... ×2 + 2.95sERRORobjective_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: 1785930474.81224871 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.98sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.98sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971815 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971815 ms (missed cycles : 3).[0m ×2 + 3.54sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 3.54sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.54sINFOobjective_server_nodeError registering 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 + 3.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785930475.40820909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785930476.02834940 seconds ×3 + 4.44sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942979 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942979 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785930476.63209748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.77sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.78sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785930476.63391805 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.684201 ms (missed cycles : 6). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.684201 ms (missed cycles : 6).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785930477.33943105 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785930477.33991289 seconds ×3 + 5.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 6.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785930477.93440890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.892248 ms (missed cycles : 6). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.892248 ms (missed cycles : 6).[0m ×2 + 6.89sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785930478.74453187 seconds ×3 + 6.92sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 29 warnings · 104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521663 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521663 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001273 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001273 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345240 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345240 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785930305.88763356 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234809 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234809 ms (missed cycles : 2).[0m ×2 + 3.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[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_nodeObjective `Load MuJoCo Robot State` starting at time: 1785930306.55678725 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 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 + 3.62sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785930306.61693001 seconds ×3 + 4.24sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785930307.21399951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464981 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464981 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.37sINFOros2_control_node[2026-08-05 11:45:07.338] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-08-05 11:45:07.338] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138988 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138988 ms (missed cycles : 2).[0m ×2 + 6.37sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785930309.34414101 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974324 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974324 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 32 warnings · 91 info |
+ 0.00sINFOros2_control_node[2026-08-05 11:44:17.021] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-05 11:44:17.021] [info] Accepted new action goal ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640020 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640020 ms (missed cycles : 4).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361760 ms (missed cycles : 3). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361760 ms (missed cycles : 3).[0m ×2 + 1.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.86sINFOros2_control_node[2026-08-05 11:44:18.878] [info] Received new action goal ×2 + 1.86sINFOros2_control_node[2026-08-05 11:44:18.878] [info] Accepted new action goal ×2 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.052672 ms (missed cycles : 7). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.052672 ms (missed cycles : 7).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785930260.26474261 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345076 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345076 ms (missed cycles : 2).[0m ×2 + 3.86sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.86sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.86sINFOobjective_server_nodeError registering 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 + 3.89sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785930260.91100073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785930260.99112129 seconds ×3 + 4.57sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785930261.58739376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.69sINFOros2_control_node[2026-08-05 11:44:21.711] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-05 11:44:21.711] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789887 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789887 ms (missed cycles : 4).[0m ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875260 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875260 ms (missed cycles : 2).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240355 ms (missed cycles : 4). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240355 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 31 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.785980 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.785980 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016213 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016213 ms (missed cycles : 5).[0m ×2 + 1.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 2.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.11sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 2.12sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.13sINFOros2_control_node[2026-08-05 11:44:04.246] [info] Received new action goal ×2 + 2.13sINFOros2_control_node[2026-08-05 11:44:04.246] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182935 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182935 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOros2_control_node[2026-08-05 11:44:04.912] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-08-05 11:44:04.912] [info] Canceling active goal... ×2 + 2.81sERRORobjective_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: 1785930244.92787004 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722926 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722926 ms (missed cycles : 5).[0m ×2 + 3.40sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 3.40sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.40sINFOobjective_server_nodeError registering 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 + 3.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785930245.52719188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785930245.63731241 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785930246.31367970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.39sINFOros2_control_node[2026-08-05 11:44:06.507] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-05 11:44:06.507] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524396 ms (missed cycles : 5). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524396 ms (missed cycles : 5).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763935 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763935 ms (missed cycles : 2).[0m ×2 + 6.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230339 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230339 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 38 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148758 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148758 ms (missed cycles : 2).[0m ×2 + 0.85sINFOobjective_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 + 0.85sINFOros2_control_node[2026-08-05 11:47:54.808] [info] Got request to cancel active goal. ×2 + 0.85sINFOros2_control_node[2026-08-05 11:47:54.808] [info] Canceling active goal... ×2 + 0.85sERRORobjective_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: 1785930474.81224871 seconds ×3 + 0.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.88sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971815 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971815 ms (missed cycles : 3).[0m ×2 + 1.44sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 1.44sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.44sINFOobjective_server_nodeError registering 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 + 1.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785930475.40820909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785930476.02834940 seconds ×3 + 2.34sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942979 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942979 ms (missed cycles : 3).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785930476.63209748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.67sINFOobjective_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 + 2.67sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785930476.63391805 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.684201 ms (missed cycles : 6). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.684201 ms (missed cycles : 6).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785930477.33943105 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785930477.33991289 seconds ×3 + 3.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785930477.93440890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.892248 ms (missed cycles : 6). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.892248 ms (missed cycles : 6).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785930478.74453187 seconds ×3 + 4.82sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.750100 ms (missed cycles : 6). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.750100 ms (missed cycles : 6).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.438153 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.438153 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 34 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761234 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761234 ms (missed cycles : 4).[0m ×2 + 0.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389495 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389495 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671427 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671427 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_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 + 3.25sERRORobjective_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: 1785930462.31158376 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157639 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157639 ms (missed cycles : 3).[0m ×2 + 3.85sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 3.86sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.86sINFOobjective_server_nodeError registering 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 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785930462.91670203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785930462.99684596 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010502 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010502 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785930463.58741593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_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 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785930463.60970712 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785930464.30775547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.37sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.38sINFOros2_control_node[2026-08-05 11:47:44.433] [info] Received new action goal ×2 + 5.38sINFOros2_control_node[2026-08-05 11:47:44.433] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767155 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767155 ms (missed cycles : 3).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.006622 ms (missed cycles : 8). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.006622 ms (missed cycles : 8).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 47 warnings · 406 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 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 + 0.04sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.05sINFOros2-8process has finished cleanly [pid 9965] ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.28sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.36sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.36sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.38sINFOros2-4process has finished cleanly [pid 9961] ×2 + 0.42sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 + 0.42sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 + 0.47sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.47sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.47sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.47sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.49sINFOros2_control_node[2026-08-05 11:43:48.400] [info] Controller state will be published at 10 Hz. ×2 + 0.49sINFOros2_control_node[2026-08-05 11:43:48.401] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235727 ms (missed cycles : 4). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235727 ms (missed cycles : 4).[0m ×2 + 0.82sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.82sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.82sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 + 0.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 + 0.85sINFOros2-7process has finished cleanly [pid 9964] ×2 + 0.87sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.87sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.88sINFOforce_torque_sensor_broadcasterconfigure successful + 0.88sINFOros2_control_nodeconfigure successful[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.89sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.89sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.19sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.19sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.20sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.20sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.20sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 + 1.20sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 + 1.21sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.21sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.22sINFOros2-2process has finished cleanly [pid 9959] ×2 + 1.24sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.24sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.24sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.24sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.24sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.25sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.26sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.26sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.45sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 1.46sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 1.46sINFOobjective_server_nodeError registering 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 + 1.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785930229.36587191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785930229.37606335 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.57sINFOros2-3process has finished cleanly [pid 9960] ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.535517 ms (missed cycles : 6). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.535517 ms (missed cycles : 6).[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785930229.96617842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 6.59sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.61sINFOobjective_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 + 6.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.73sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 34 warnings · 140 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×4 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389495 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389495 ms (missed cycles : 3).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671427 ms (missed cycles : 3). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671427 ms (missed cycles : 3).[0m ×2 + 2.70sINFOobjective_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 + 2.71sERRORobjective_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: 1785930462.31158376 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.74sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.74sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157639 ms (missed cycles : 3). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157639 ms (missed cycles : 3).[0m ×2 + 3.31sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 3.31sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.31sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785930462.91670203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.38sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.38sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785930462.99684596 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010502 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010502 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785930463.58741593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_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 + 4.01sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785930463.60970712 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785930464.30775547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.83sINFOros2_control_node[2026-08-05 11:47:44.433] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-05 11:47:44.433] [info] Accepted new action goal ×2 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767155 ms (missed cycles : 3). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767155 ms (missed cycles : 3).[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.006622 ms (missed cycles : 8). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.006622 ms (missed cycles : 8).[0m ×2 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562723 ms (missed cycles : 3). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562723 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 36 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230630 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230630 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148758 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148758 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_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 + 1.86sINFOros2_control_node[2026-08-05 11:47:54.808] [info] Got request to cancel active goal. ×2 + 1.86sINFOros2_control_node[2026-08-05 11:47:54.808] [info] Canceling active goal... ×2 + 1.86sERRORobjective_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: 1785930474.81224871 seconds ×3 + 1.87sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.87sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.87sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971815 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971815 ms (missed cycles : 3).[0m ×2 + 2.45sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 2.45sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.45sINFOobjective_server_nodeError registering 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 + 2.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785930475.40820909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785930476.02834940 seconds ×3 + 3.35sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942979 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942979 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785930476.63209748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.68sINFOobjective_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 + 3.69sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785930476.63391805 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.684201 ms (missed cycles : 6). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.684201 ms (missed cycles : 6).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785930477.33943105 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785930477.33991289 seconds ×3 + 4.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785930477.93440890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.892248 ms (missed cycles : 6). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.892248 ms (missed cycles : 6).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785930478.74453187 seconds ×3 + 5.83sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.750100 ms (missed cycles : 6). | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.1s | 26 warnings · 79 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-05 11:45:12.513123112 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.00sINFOobjective_server_node[0;93m2026-08-05 11:45:12.513151130 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302175 ms (missed cycles : 5). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302175 ms (missed cycles : 5).[0m ×2 + 0.21sINFOobjective_server_node[2026-08-05 11:45:12.726] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.72sINFOobjective_server_node[0;93m2026-08-05 11:45:13.233989837 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.72sINFOobjective_server_node[0;93m2026-08-05 11:45:13.234020439 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.86sINFOobjective_server_node[2026-08-05 11:45:13.373] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.92sINFOobjective_server_node[0;93m2026-08-05 11:45:13.432273875 [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 + 0.92sINFOobjective_server_node[0;93m2026-08-05 11:45:13.435481429 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.92sINFOobjective_server_node[0;93m2026-08-05 11:45:13.435508051 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.94sINFOobjective_server_node[2026-08-05 11:45:13.453] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446846 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446846 ms (missed cycles : 2).[0m ×2 + 1.35sINFOobjective_server_node[0;93m2026-08-05 11:45:13.863971580 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.38sINFOobjective_server_node[0;93m2026-08-05 11:45:13.888757225 [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 + 1.38sINFOobjective_server_node[0;93m2026-08-05 11:45:13.888796971 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612485 ms (missed cycles : 4). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612485 ms (missed cycles : 4).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785930315.82152891 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395244 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395244 ms (missed cycles : 4).[0m ×2 + 3.98sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.98sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.98sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785930316.57068038 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.14sINFOobjective_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 + 4.15sINFOobjective_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 + 4.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOros2_control_node[2026-08-05 11:45:16.979] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-05 11:45:16.979] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803604 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803604 ms (missed cycles : 2).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828603 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828603 ms (missed cycles : 2).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783394 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783394 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.1s | 3 errors · 28 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016213 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016213 ms (missed cycles : 5).[0m ×2 + 0.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 0.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.05sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 1.05sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.06sINFOros2_control_node[2026-08-05 11:44:04.246] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-08-05 11:44:04.246] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182935 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182935 ms (missed cycles : 3).[0m ×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 + 1.73sINFOros2_control_node[2026-08-05 11:44:04.912] [info] Got request to cancel active goal. ×2 + 1.73sINFOros2_control_node[2026-08-05 11:44:04.912] [info] Canceling active goal... ×2 + 1.75sERRORobjective_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: 1785930244.92787004 seconds ×3 + 1.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722926 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722926 ms (missed cycles : 5).[0m ×2 + 2.34sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 2.34sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.34sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 2.34sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785930245.52719188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785930245.63731241 seconds ×3 + 3.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785930246.31367970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.31sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.33sINFOros2_control_node[2026-08-05 11:44:06.507] [info] Received new action goal ×2 + 3.33sINFOros2_control_node[2026-08-05 11:44:06.507] [info] Accepted new action goal ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524396 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524396 ms (missed cycles : 5).[0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763935 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763935 ms (missed cycles : 2).[0m ×2 + 5.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230339 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230339 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 28 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016213 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016213 ms (missed cycles : 5).[0m ×2 + 0.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 0.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.05sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 1.05sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.06sINFOros2_control_node[2026-08-05 11:44:04.246] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-08-05 11:44:04.246] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182935 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182935 ms (missed cycles : 3).[0m ×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 + 1.73sINFOros2_control_node[2026-08-05 11:44:04.912] [info] Got request to cancel active goal. ×2 + 1.73sINFOros2_control_node[2026-08-05 11:44:04.912] [info] Canceling active goal... ×2 + 1.75sERRORobjective_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: 1785930244.92787004 seconds ×3 + 1.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722926 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722926 ms (missed cycles : 5).[0m ×2 + 2.34sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 2.34sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.34sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 2.34sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785930245.52719188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785930245.63731241 seconds ×3 + 3.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785930246.31367970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.31sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.33sINFOros2_control_node[2026-08-05 11:44:06.507] [info] Received new action goal ×2 + 3.33sINFOros2_control_node[2026-08-05 11:44:06.507] [info] Accepted new action goal ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524396 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524396 ms (missed cycles : 5).[0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763935 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763935 ms (missed cycles : 2).[0m ×2 + 5.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230339 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230339 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 29 warnings · 87 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361760 ms (missed cycles : 3). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361760 ms (missed cycles : 3).[0m ×2 + 0.46sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-08-05 11:44:18.878] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-08-05 11:44:18.878] [info] Accepted new action goal ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.052672 ms (missed cycles : 7). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.052672 ms (missed cycles : 7).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785930260.26474261 seconds ×3 + 1.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.88sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.88sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345076 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345076 ms (missed cycles : 2).[0m ×2 + 2.47sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 2.47sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.47sINFOobjective_server_nodeError registering 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 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785930260.91100073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785930260.99112129 seconds ×3 + 3.18sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785930261.58739376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 3.30sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.31sINFOros2_control_node[2026-08-05 11:44:21.711] [info] Received new action goal ×2 + 3.31sINFOros2_control_node[2026-08-05 11:44:21.711] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789887 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789887 ms (missed cycles : 4).[0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875260 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875260 ms (missed cycles : 2).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240355 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240355 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 26 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601610 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601610 ms (missed cycles : 4).[0m ×2 + 0.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.02sINFOros2_control_node[2026-08-05 11:44:29.759] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-08-05 11:44:29.759] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405699 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405699 ms (missed cycles : 4).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568421 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568421 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_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 + 3.07sINFOros2_control_node[2026-08-05 11:44:31.807] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-08-05 11:44:31.807] [info] Canceling active goal... ×2 + 3.08sERRORobjective_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: 1785930271.82024360 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316322 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316322 ms (missed cycles : 5).[0m ×2 + 3.70sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.70sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.70sINFOobjective_server_nodeError registering 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 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785930272.46089530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-08-05 11:44:32.665] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-05 11:44:32.665] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.025348 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.025348 ms (missed cycles : 6).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198559 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198559 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775733 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 26 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601610 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601610 ms (missed cycles : 4).[0m ×2 + 0.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.02sINFOros2_control_node[2026-08-05 11:44:29.759] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-08-05 11:44:29.759] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405699 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405699 ms (missed cycles : 4).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568421 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568421 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_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 + 3.07sINFOros2_control_node[2026-08-05 11:44:31.807] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-08-05 11:44:31.807] [info] Canceling active goal... ×2 + 3.08sERRORobjective_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: 1785930271.82024360 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316322 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316322 ms (missed cycles : 5).[0m ×2 + 3.70sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.70sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.70sINFOobjective_server_nodeError registering 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 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785930272.46089530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-08-05 11:44:32.665] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-05 11:44:32.665] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.025348 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.025348 ms (missed cycles : 6).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198559 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198559 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775733 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 26 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601610 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601610 ms (missed cycles : 4).[0m ×2 + 0.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.02sINFOros2_control_node[2026-08-05 11:44:29.759] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-08-05 11:44:29.759] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405699 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405699 ms (missed cycles : 4).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568421 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568421 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_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 + 3.07sINFOros2_control_node[2026-08-05 11:44:31.807] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-08-05 11:44:31.807] [info] Canceling active goal... ×2 + 3.08sERRORobjective_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: 1785930271.82024360 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316322 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316322 ms (missed cycles : 5).[0m ×2 + 3.70sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.70sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.70sINFOobjective_server_nodeError registering 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 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785930272.46089530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-08-05 11:44:32.665] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-05 11:44:32.665] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.025348 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.025348 ms (missed cycles : 6).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198559 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198559 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775733 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 26 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601610 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601610 ms (missed cycles : 4).[0m ×2 + 0.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.02sINFOros2_control_node[2026-08-05 11:44:29.759] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-08-05 11:44:29.759] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405699 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405699 ms (missed cycles : 4).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568421 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568421 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_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 + 3.07sINFOros2_control_node[2026-08-05 11:44:31.807] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-08-05 11:44:31.807] [info] Canceling active goal... ×2 + 3.08sERRORobjective_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: 1785930271.82024360 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316322 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316322 ms (missed cycles : 5).[0m ×2 + 3.70sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.70sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.70sINFOobjective_server_nodeError registering 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 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785930272.46089530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-08-05 11:44:32.665] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-05 11:44:32.665] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.025348 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.025348 ms (missed cycles : 6).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198559 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198559 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775733 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 26 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601610 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601610 ms (missed cycles : 4).[0m ×2 + 0.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.02sINFOros2_control_node[2026-08-05 11:44:29.759] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-08-05 11:44:29.759] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405699 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405699 ms (missed cycles : 4).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568421 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568421 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_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 + 3.07sINFOros2_control_node[2026-08-05 11:44:31.807] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-08-05 11:44:31.807] [info] Canceling active goal... ×2 + 3.08sERRORobjective_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: 1785930271.82024360 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316322 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316322 ms (missed cycles : 5).[0m ×2 + 3.70sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.70sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.70sINFOobjective_server_nodeError registering 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 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785930272.46089530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-08-05 11:44:32.665] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-05 11:44:32.665] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.025348 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.025348 ms (missed cycles : 6).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198559 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198559 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775733 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 26 warnings · 86 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714603 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714603 ms (missed cycles : 3).[0m ×2 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (1.96e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.32sINFOobjective_server_nodeFound path in 0 iterations (2.22e-07 s). ×2 + 0.37sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.39sINFOobjective_server_nodeFound path in 1 iterations (0.00292343 s). ×2 + 0.49sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.56sINFOros2_control_node[2026-08-05 11:44:51.503] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-08-05 11:44:51.503] [info] Accepted new action goal ×2 + 1.00sINFOros2_control_node[2026-08-05 11:44:51.946] [info] Received new action goal ×2 + 1.00sINFOros2_control_node[2026-08-05 11:44:51.946] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.695973 ms (missed cycles : 7). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.695973 ms (missed cycles : 7).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.987728 ms (missed cycles : 6). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.987728 ms (missed cycles : 6).[0m ×2 + 2.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.86sINFOobjective_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 + 2.86sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.87sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.87sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.87sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.90sERRORobjective_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: 1785930293.84038663 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828264 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828264 ms (missed cycles : 2).[0m ×2 + 3.62sWARNobjective_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 + 3.62sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.62sINFOobjective_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 ×2 + 3.69sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1785930294.63469410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 3.88sINFOros2_control_node[2026-08-05 11:44:54.818] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-08-05 11:44:54.818] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257359 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257359 ms (missed cycles : 4).[0m ×2 + 4.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645532 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645532 ms (missed cycles : 2).[0m ×2 + 5.35sINFOros2_control_nodeMuJoCo sim: 0.14% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.37sINFOros2_control_node[2026-08-05 11:44:57.316] [info] Received new action goal ×2 + 6.38sINFOros2_control_node[2026-08-05 11:44:57.316] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515598 ms (missed cycles : 4). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515598 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 29 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: 1785930307.21399951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464981 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464981 ms (missed cycles : 2).[0m ×2 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.13sINFOros2_control_node[2026-08-05 11:45:07.338] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-08-05 11:45:07.338] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138988 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138988 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785930309.34414101 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974324 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974324 ms (missed cycles : 2).[0m ×2 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114656 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114656 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785930310.96470141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937278 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937278 ms (missed cycles : 5).[0m ×2 + 4.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.48sINFOobjective_server_node[2026-08-05 11:45:11.688] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.31sINFOobjective_server_node[0;93m2026-08-05 11:45:12.513123112 [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 + 5.31sINFOobjective_server_node[0;93m2026-08-05 11:45:12.513151130 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302175 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302175 ms (missed cycles : 5).[0m ×2 + 5.52sINFOobjective_server_node[2026-08-05 11:45:12.726] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.03sINFOobjective_server_node[0;93m2026-08-05 11:45:13.233989837 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.03sINFOobjective_server_node[0;93m2026-08-05 11:45:13.234020439 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.17sINFOobjective_server_node[2026-08-05 11:45:13.373] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.22sINFOobjective_server_node[0;93m2026-08-05 11:45:13.432273875 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 6.23sINFOobjective_server_node[0;93m2026-08-05 11:45:13.435481429 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.23sINFOobjective_server_node[0;93m2026-08-05 11:45:13.435508051 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.25sINFOobjective_server_node[2026-08-05 11:45:13.453] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446846 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446846 ms (missed cycles : 2).[0m ×2 + 6.66sINFOobjective_server_node[0;93m2026-08-05 11:45:13.863971580 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 6.68sINFOobjective_server_node[0;93m2026-08-05 11:45:13.888757225 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.68sINFOobjective_server_node[0;93m2026-08-05 11:45:13.888796971 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 26 warnings · 79 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-05 11:45:12.513123112 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.00sINFOobjective_server_node[0;93m2026-08-05 11:45:12.513151130 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302175 ms (missed cycles : 5). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302175 ms (missed cycles : 5).[0m ×2 + 0.21sINFOobjective_server_node[2026-08-05 11:45:12.726] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.72sINFOobjective_server_node[0;93m2026-08-05 11:45:13.233989837 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.72sINFOobjective_server_node[0;93m2026-08-05 11:45:13.234020439 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.86sINFOobjective_server_node[2026-08-05 11:45:13.373] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.92sINFOobjective_server_node[0;93m2026-08-05 11:45:13.432273875 [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 + 0.92sINFOobjective_server_node[0;93m2026-08-05 11:45:13.435481429 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.92sINFOobjective_server_node[0;93m2026-08-05 11:45:13.435508051 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.94sINFOobjective_server_node[2026-08-05 11:45:13.453] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446846 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446846 ms (missed cycles : 2).[0m ×2 + 1.35sINFOobjective_server_node[0;93m2026-08-05 11:45:13.863971580 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.38sINFOobjective_server_node[0;93m2026-08-05 11:45:13.888757225 [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 + 1.38sINFOobjective_server_node[0;93m2026-08-05 11:45:13.888796971 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612485 ms (missed cycles : 4). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612485 ms (missed cycles : 4).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785930315.82152891 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395244 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395244 ms (missed cycles : 4).[0m ×2 + 3.98sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.98sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.98sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785930316.57068038 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.14sINFOobjective_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 + 4.15sINFOobjective_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 + 4.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOros2_control_node[2026-08-05 11:45:16.979] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-05 11:45:16.979] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803604 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803604 ms (missed cycles : 2).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828603 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828603 ms (missed cycles : 2).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783394 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783394 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 15 errors · 28 warnings · 92 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874506 ms (missed cycles : 5). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874506 ms (missed cycles : 5).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.028158 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.028158 ms (missed cycles : 5).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051594 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051594 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785930370.58188176 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202900 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202900 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 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.72sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.73sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785930371.18551040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.90sINFOros2_control_node[2026-08-05 11:46:11.359] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-08-05 11:46:11.359] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785683 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785683 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.18sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961614 ms (missed cycles : 2). + 5.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961614 ms (missed cycles : 2).[0m ×2 + 5.59sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×15 + 5.61sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 6.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.490400 ms (missed cycles : 6). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.490400 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 3 errors · 25 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772700 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772700 ms (missed cycles : 3).[0m ×2 + 0.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967450 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967450 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155274 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155274 ms (missed cycles : 4).[0m ×2 + 2.73sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 2.79sINFOobjective_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 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 3.06sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1785930387.37457538 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.334598 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.334598 ms (missed cycles : 4).[0m ×2 + 3.66sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.66sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.66sINFOobjective_server_nodeError registering 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 + 3.71sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1785930388.02885437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.80sINFOobjective_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 ] + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 70 iterations (0.0164 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X____________________________X________________________________________X] ×2 + 3.99sINFOros2_control_node[2026-08-05 11:46:28.305] [info] Received new action goal ×2 + 3.99sINFOros2_control_node[2026-08-05 11:46:28.305] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186646 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186646 ms (missed cycles : 4).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134579 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134579 ms (missed cycles : 2).[0m ×2 + 6.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 25 warnings · 52 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400936 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400936 ms (missed cycles : 3).[0m ×2 + 0.71sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277436 ms (missed cycles : 4). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277436 ms (missed cycles : 4).[0m ×2 + 2.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418458 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418458 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785930419.01904726 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.970255 ms (missed cycles : 5). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.970255 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 + 4.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785930419.79522491 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 (2.53e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-08-05 11:47:00.019] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-05 11:47:00.019] [info] Accepted new action goal ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873438 ms (missed cycles : 3). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873438 ms (missed cycles : 3).[0m ×2 + 5.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496820 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496820 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 25 warnings · 52 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400936 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400936 ms (missed cycles : 3).[0m ×2 + 0.71sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277436 ms (missed cycles : 4). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277436 ms (missed cycles : 4).[0m ×2 + 2.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418458 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418458 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785930419.01904726 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.970255 ms (missed cycles : 5). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.970255 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 + 4.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785930419.79522491 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 (2.53e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-08-05 11:47:00.019] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-05 11:47:00.019] [info] Accepted new action goal ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873438 ms (missed cycles : 3). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873438 ms (missed cycles : 3).[0m ×2 + 5.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496820 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496820 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 31 warnings · 61 info |
+ 0.00sINFOros2_control_node[2026-08-05 11:47:06.424] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-05 11:47:06.424] [info] Accepted new action goal ×2 + 0.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707876 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707876 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456777 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456777 ms (missed cycles : 4).[0m ×2 + 1.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-05 11:47:08.338] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-05 11:47:08.338] [info] Accepted new action goal ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238349 ms (missed cycles : 2). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238349 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785930429.72539496 seconds ×3 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073655 ms (missed cycles : 5). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073655 ms (missed cycles : 5).[0m ×2 + 4.08sWARNobjective_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 + 4.08sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.08sINFOobjective_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 ×2 + 4.12sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785930430.54631758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.33sINFOros2_control_node[2026-08-05 11:47:10.750] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-08-05 11:47:10.750] [info] Accepted new action goal ×2 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361625 ms (missed cycles : 2). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361625 ms (missed cycles : 2).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209838 ms (missed cycles : 5). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209838 ms (missed cycles : 5).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 31 warnings · 61 info |
+ 0.00sINFOros2_control_node[2026-08-05 11:47:06.424] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-05 11:47:06.424] [info] Accepted new action goal ×2 + 0.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707876 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707876 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456777 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456777 ms (missed cycles : 4).[0m ×2 + 1.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-05 11:47:08.338] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-05 11:47:08.338] [info] Accepted new action goal ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238349 ms (missed cycles : 2). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238349 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785930429.72539496 seconds ×3 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073655 ms (missed cycles : 5). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073655 ms (missed cycles : 5).[0m ×2 + 4.08sWARNobjective_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 + 4.08sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.08sINFOobjective_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 ×2 + 4.12sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785930430.54631758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.33sINFOros2_control_node[2026-08-05 11:47:10.750] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-08-05 11:47:10.750] [info] Accepted new action goal ×2 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361625 ms (missed cycles : 2). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361625 ms (missed cycles : 2).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209838 ms (missed cycles : 5). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209838 ms (missed cycles : 5).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 31 warnings · 61 info |
+ 0.00sINFOros2_control_node[2026-08-05 11:47:06.424] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-05 11:47:06.424] [info] Accepted new action goal ×2 + 0.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707876 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707876 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456777 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456777 ms (missed cycles : 4).[0m ×2 + 1.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-05 11:47:08.338] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-05 11:47:08.338] [info] Accepted new action goal ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238349 ms (missed cycles : 2). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238349 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785930429.72539496 seconds ×3 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073655 ms (missed cycles : 5). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073655 ms (missed cycles : 5).[0m ×2 + 4.08sWARNobjective_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 + 4.08sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.08sINFOobjective_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 ×2 + 4.12sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785930430.54631758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.33sINFOros2_control_node[2026-08-05 11:47:10.750] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-08-05 11:47:10.750] [info] Accepted new action goal ×2 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361625 ms (missed cycles : 2). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361625 ms (missed cycles : 2).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209838 ms (missed cycles : 5). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209838 ms (missed cycles : 5).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 31 warnings · 61 info |
+ 0.00sINFOros2_control_node[2026-08-05 11:47:06.424] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-05 11:47:06.424] [info] Accepted new action goal ×2 + 0.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707876 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707876 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456777 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456777 ms (missed cycles : 4).[0m ×2 + 1.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-05 11:47:08.338] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-05 11:47:08.338] [info] Accepted new action goal ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238349 ms (missed cycles : 2). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238349 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785930429.72539496 seconds ×3 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073655 ms (missed cycles : 5). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073655 ms (missed cycles : 5).[0m ×2 + 4.08sWARNobjective_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 + 4.08sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.08sINFOobjective_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 ×2 + 4.12sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785930430.54631758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.33sINFOros2_control_node[2026-08-05 11:47:10.750] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-08-05 11:47:10.750] [info] Accepted new action goal ×2 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361625 ms (missed cycles : 2). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361625 ms (missed cycles : 2).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209838 ms (missed cycles : 5). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209838 ms (missed cycles : 5).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 31 warnings · 61 info |
+ 0.00sINFOros2_control_node[2026-08-05 11:47:06.424] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-05 11:47:06.424] [info] Accepted new action goal ×2 + 0.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707876 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707876 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456777 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456777 ms (missed cycles : 4).[0m ×2 + 1.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-05 11:47:08.338] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-05 11:47:08.338] [info] Accepted new action goal ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238349 ms (missed cycles : 2). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238349 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785930429.72539496 seconds ×3 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073655 ms (missed cycles : 5). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073655 ms (missed cycles : 5).[0m ×2 + 4.08sWARNobjective_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 + 4.08sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.08sINFOobjective_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 ×2 + 4.12sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785930430.54631758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.33sINFOros2_control_node[2026-08-05 11:47:10.750] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-08-05 11:47:10.750] [info] Accepted new action goal ×2 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361625 ms (missed cycles : 2). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361625 ms (missed cycles : 2).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209838 ms (missed cycles : 5). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209838 ms (missed cycles : 5).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 31 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475264 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475264 ms (missed cycles : 4).[0m ×2 + 0.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864102 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864102 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283122 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283122 ms (missed cycles : 3).[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1785930451.32684827 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629430 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629430 ms (missed cycles : 3).[0m ×2 + 3.75sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.75sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.75sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.76sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1785930451.94130850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-08-05 11:47:32.065] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-08-05 11:47:32.065] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394140 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394140 ms (missed cycles : 3).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019378 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019378 ms (missed cycles : 5).[0m ×2 + 5.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.79sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335399 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335399 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 32 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389495 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389495 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671427 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671427 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_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 + 2.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785930462.31158376 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157639 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157639 ms (missed cycles : 3).[0m ×2 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.78sINFOobjective_server_nodeError registering 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 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785930462.91670203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.85sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.85sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785930462.99684596 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010502 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010502 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785930463.58741593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_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 + 3.48sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785930463.60970712 seconds ×3 + 4.18sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785930464.30775547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.30sINFOros2_control_node[2026-08-05 11:47:44.433] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-05 11:47:44.433] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767155 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767155 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.006622 ms (missed cycles : 8). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.006622 ms (missed cycles : 8).[0m ×2 + 5.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562723 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562723 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 32 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389495 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389495 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671427 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671427 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_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 + 2.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785930462.31158376 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157639 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157639 ms (missed cycles : 3).[0m ×2 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.78sINFOobjective_server_nodeError registering 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 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785930462.91670203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.85sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.85sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785930462.99684596 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010502 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010502 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785930463.58741593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_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 + 3.48sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785930463.60970712 seconds ×3 + 4.18sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785930464.30775547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.30sINFOros2_control_node[2026-08-05 11:47:44.433] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-05 11:47:44.433] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767155 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767155 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.006622 ms (missed cycles : 8). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.006622 ms (missed cycles : 8).[0m ×2 + 5.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562723 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562723 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Select Region and Cover | select_region_and_cover.xml | 0.0s | 3 errors · 32 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389495 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389495 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671427 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671427 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_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 + 2.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785930462.31158376 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157639 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157639 ms (missed cycles : 3).[0m ×2 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.78sINFOobjective_server_nodeError registering 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 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785930462.91670203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.85sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.85sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785930462.99684596 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010502 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010502 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785930463.58741593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_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 + 3.48sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785930463.60970712 seconds ×3 + 4.18sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785930464.30775547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.30sINFOros2_control_node[2026-08-05 11:47:44.433] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-05 11:47:44.433] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767155 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767155 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.006622 ms (missed cycles : 8). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.006622 ms (missed cycles : 8).[0m ×2 + 5.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562723 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562723 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 28 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.785980 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.785980 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016213 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016213 ms (missed cycles : 5).[0m ×2 + 1.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 2.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.11sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 2.12sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.13sINFOros2_control_node[2026-08-05 11:44:04.246] [info] Received new action goal ×2 + 2.13sINFOros2_control_node[2026-08-05 11:44:04.246] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182935 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182935 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOros2_control_node[2026-08-05 11:44:04.912] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-08-05 11:44:04.912] [info] Canceling active goal... ×2 + 2.81sERRORobjective_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: 1785930244.92787004 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722926 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722926 ms (missed cycles : 5).[0m ×2 + 3.40sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 3.40sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.40sINFOobjective_server_nodeError registering 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 + 3.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785930245.52719188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785930245.63731241 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785930246.31367970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.39sINFOros2_control_node[2026-08-05 11:44:06.507] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-05 11:44:06.507] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524396 ms (missed cycles : 5). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524396 ms (missed cycles : 5).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763935 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763935 ms (missed cycles : 2).[0m ×2 + 6.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 28 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.785980 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.785980 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016213 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016213 ms (missed cycles : 5).[0m ×2 + 1.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 2.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.11sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 2.12sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.13sINFOros2_control_node[2026-08-05 11:44:04.246] [info] Received new action goal ×2 + 2.13sINFOros2_control_node[2026-08-05 11:44:04.246] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182935 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182935 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOros2_control_node[2026-08-05 11:44:04.912] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-08-05 11:44:04.912] [info] Canceling active goal... ×2 + 2.81sERRORobjective_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: 1785930244.92787004 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722926 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722926 ms (missed cycles : 5).[0m ×2 + 3.40sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 3.40sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.40sINFOobjective_server_nodeError registering 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 + 3.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785930245.52719188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785930245.63731241 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785930246.31367970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.39sINFOros2_control_node[2026-08-05 11:44:06.507] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-05 11:44:06.507] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524396 ms (missed cycles : 5). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524396 ms (missed cycles : 5).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763935 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763935 ms (missed cycles : 2).[0m ×2 + 6.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 28 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016213 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016213 ms (missed cycles : 5).[0m ×2 + 0.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 0.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.05sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 1.05sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.06sINFOros2_control_node[2026-08-05 11:44:04.246] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-08-05 11:44:04.246] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182935 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182935 ms (missed cycles : 3).[0m ×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 + 1.73sINFOros2_control_node[2026-08-05 11:44:04.912] [info] Got request to cancel active goal. ×2 + 1.73sINFOros2_control_node[2026-08-05 11:44:04.912] [info] Canceling active goal... ×2 + 1.75sERRORobjective_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: 1785930244.92787004 seconds ×3 + 1.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722926 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722926 ms (missed cycles : 5).[0m ×2 + 2.34sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 2.34sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.34sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 2.34sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785930245.52719188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785930245.63731241 seconds ×3 + 3.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785930246.31367970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.31sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.33sINFOros2_control_node[2026-08-05 11:44:06.507] [info] Received new action goal ×2 + 3.33sINFOros2_control_node[2026-08-05 11:44:06.507] [info] Accepted new action goal ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524396 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524396 ms (missed cycles : 5).[0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763935 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763935 ms (missed cycles : 2).[0m ×2 + 5.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230339 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230339 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 28 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016213 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.016213 ms (missed cycles : 5).[0m ×2 + 0.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 0.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.05sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 1.05sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.06sINFOros2_control_node[2026-08-05 11:44:04.246] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-08-05 11:44:04.246] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182935 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182935 ms (missed cycles : 3).[0m ×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 + 1.73sINFOros2_control_node[2026-08-05 11:44:04.912] [info] Got request to cancel active goal. ×2 + 1.73sINFOros2_control_node[2026-08-05 11:44:04.912] [info] Canceling active goal... ×2 + 1.75sERRORobjective_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: 1785930244.92787004 seconds ×3 + 1.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722926 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722926 ms (missed cycles : 5).[0m ×2 + 2.34sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 2.34sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.34sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 2.34sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785930245.52719188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785930245.63731241 seconds ×3 + 3.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785930246.31367970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.31sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.33sINFOros2_control_node[2026-08-05 11:44:06.507] [info] Received new action goal ×2 + 3.33sINFOros2_control_node[2026-08-05 11:44:06.507] [info] Accepted new action goal ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524396 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524396 ms (missed cycles : 5).[0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763935 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763935 ms (missed cycles : 2).[0m ×2 + 5.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230339 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230339 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 29 warnings · 87 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361760 ms (missed cycles : 3). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361760 ms (missed cycles : 3).[0m ×2 + 0.46sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-08-05 11:44:18.878] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-08-05 11:44:18.878] [info] Accepted new action goal ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.052672 ms (missed cycles : 7). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.052672 ms (missed cycles : 7).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785930260.26474261 seconds ×3 + 1.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.88sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.88sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345076 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345076 ms (missed cycles : 2).[0m ×2 + 2.47sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 2.47sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.47sINFOobjective_server_nodeError registering 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 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785930260.91100073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785930260.99112129 seconds ×3 + 3.18sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785930261.58739376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 3.30sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.31sINFOros2_control_node[2026-08-05 11:44:21.711] [info] Received new action goal ×2 + 3.31sINFOros2_control_node[2026-08-05 11:44:21.711] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789887 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789887 ms (missed cycles : 4).[0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875260 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875260 ms (missed cycles : 2).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240355 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240355 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 29 warnings · 87 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361760 ms (missed cycles : 3). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361760 ms (missed cycles : 3).[0m ×2 + 0.46sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-08-05 11:44:18.878] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-08-05 11:44:18.878] [info] Accepted new action goal ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.052672 ms (missed cycles : 7). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.052672 ms (missed cycles : 7).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785930260.26474261 seconds ×3 + 1.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.88sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.88sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345076 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345076 ms (missed cycles : 2).[0m ×2 + 2.47sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 2.47sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.47sINFOobjective_server_nodeError registering 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 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785930260.91100073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785930260.99112129 seconds ×3 + 3.18sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785930261.58739376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 3.30sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.31sINFOros2_control_node[2026-08-05 11:44:21.711] [info] Received new action goal ×2 + 3.31sINFOros2_control_node[2026-08-05 11:44:21.711] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789887 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789887 ms (missed cycles : 4).[0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875260 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875260 ms (missed cycles : 2).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240355 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240355 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 29 warnings · 87 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361760 ms (missed cycles : 3). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361760 ms (missed cycles : 3).[0m ×2 + 0.46sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-08-05 11:44:18.878] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-08-05 11:44:18.878] [info] Accepted new action goal ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.052672 ms (missed cycles : 7). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.052672 ms (missed cycles : 7).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785930260.26474261 seconds ×3 + 1.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.88sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.88sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345076 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345076 ms (missed cycles : 2).[0m ×2 + 2.47sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 2.47sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.47sINFOobjective_server_nodeError registering 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 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785930260.91100073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785930260.99112129 seconds ×3 + 3.18sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785930261.58739376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 3.30sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.31sINFOros2_control_node[2026-08-05 11:44:21.711] [info] Received new action goal ×2 + 3.31sINFOros2_control_node[2026-08-05 11:44:21.711] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789887 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789887 ms (missed cycles : 4).[0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875260 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875260 ms (missed cycles : 2).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240355 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240355 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 26 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601610 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601610 ms (missed cycles : 4).[0m ×2 + 0.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.02sINFOros2_control_node[2026-08-05 11:44:29.759] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-08-05 11:44:29.759] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405699 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405699 ms (missed cycles : 4).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568421 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568421 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_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 + 3.07sINFOros2_control_node[2026-08-05 11:44:31.807] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-08-05 11:44:31.807] [info] Canceling active goal... ×2 + 3.08sERRORobjective_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: 1785930271.82024360 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316322 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316322 ms (missed cycles : 5).[0m ×2 + 3.70sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.70sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.70sINFOobjective_server_nodeError registering 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 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785930272.46089530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-08-05 11:44:32.665] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-05 11:44:32.665] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.025348 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.025348 ms (missed cycles : 6).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198559 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198559 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775733 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 26 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601610 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601610 ms (missed cycles : 4).[0m ×2 + 0.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.02sINFOros2_control_node[2026-08-05 11:44:29.759] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-08-05 11:44:29.759] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405699 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405699 ms (missed cycles : 4).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568421 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568421 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_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 + 3.07sINFOros2_control_node[2026-08-05 11:44:31.807] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-08-05 11:44:31.807] [info] Canceling active goal... ×2 + 3.08sERRORobjective_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: 1785930271.82024360 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316322 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316322 ms (missed cycles : 5).[0m ×2 + 3.70sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.70sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.70sINFOobjective_server_nodeError registering 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 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785930272.46089530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-08-05 11:44:32.665] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-05 11:44:32.665] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.025348 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.025348 ms (missed cycles : 6).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198559 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198559 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775733 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 26 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601610 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601610 ms (missed cycles : 4).[0m ×2 + 0.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.02sINFOros2_control_node[2026-08-05 11:44:29.759] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-08-05 11:44:29.759] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405699 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405699 ms (missed cycles : 4).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568421 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568421 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_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 + 3.07sINFOros2_control_node[2026-08-05 11:44:31.807] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-08-05 11:44:31.807] [info] Canceling active goal... ×2 + 3.08sERRORobjective_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: 1785930271.82024360 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316322 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316322 ms (missed cycles : 5).[0m ×2 + 3.70sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.70sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.70sINFOobjective_server_nodeError registering 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 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785930272.46089530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-08-05 11:44:32.665] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-05 11:44:32.665] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.025348 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.025348 ms (missed cycles : 6).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198559 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198559 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775733 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 26 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601610 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601610 ms (missed cycles : 4).[0m ×2 + 0.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.02sINFOros2_control_node[2026-08-05 11:44:29.759] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-08-05 11:44:29.759] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405699 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405699 ms (missed cycles : 4).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568421 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568421 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_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 + 3.07sINFOros2_control_node[2026-08-05 11:44:31.807] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-08-05 11:44:31.807] [info] Canceling active goal... ×2 + 3.08sERRORobjective_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: 1785930271.82024360 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316322 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316322 ms (missed cycles : 5).[0m ×2 + 3.70sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.70sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.70sINFOobjective_server_nodeError registering 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 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785930272.46089530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-08-05 11:44:32.665] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-05 11:44:32.665] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.025348 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.025348 ms (missed cycles : 6).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198559 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198559 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775733 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 26 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601610 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601610 ms (missed cycles : 4).[0m ×2 + 0.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.02sINFOros2_control_node[2026-08-05 11:44:29.759] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-08-05 11:44:29.759] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405699 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405699 ms (missed cycles : 4).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568421 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568421 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_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 + 3.07sINFOros2_control_node[2026-08-05 11:44:31.807] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-08-05 11:44:31.807] [info] Canceling active goal... ×2 + 3.08sERRORobjective_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: 1785930271.82024360 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316322 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316322 ms (missed cycles : 5).[0m ×2 + 3.70sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.70sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.70sINFOobjective_server_nodeError registering 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 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785930272.46089530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-08-05 11:44:32.665] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-05 11:44:32.665] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.025348 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.025348 ms (missed cycles : 6).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198559 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198559 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775733 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 26 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601610 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601610 ms (missed cycles : 4).[0m ×2 + 0.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.02sINFOros2_control_node[2026-08-05 11:44:29.759] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-08-05 11:44:29.759] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405699 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405699 ms (missed cycles : 4).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568421 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568421 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_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 + 3.07sINFOros2_control_node[2026-08-05 11:44:31.807] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-08-05 11:44:31.807] [info] Canceling active goal... ×2 + 3.08sERRORobjective_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: 1785930271.82024360 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316322 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316322 ms (missed cycles : 5).[0m ×2 + 3.70sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.70sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.70sINFOobjective_server_nodeError registering 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 + 3.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785930272.46089530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-08-05 11:44:32.665] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-05 11:44:32.665] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.025348 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.025348 ms (missed cycles : 6).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198559 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198559 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775733 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 29 warnings · 104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521663 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521663 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001273 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001273 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345240 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345240 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785930305.88763356 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234809 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234809 ms (missed cycles : 2).[0m ×2 + 3.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[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_nodeObjective `Load MuJoCo Robot State` starting at time: 1785930306.55678725 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 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 + 3.62sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785930306.61693001 seconds ×3 + 4.24sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785930307.21399951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464981 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464981 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.37sINFOros2_control_node[2026-08-05 11:45:07.338] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-08-05 11:45:07.338] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138988 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138988 ms (missed cycles : 2).[0m ×2 + 6.37sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785930309.34414101 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974324 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974324 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 26 warnings · 79 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-05 11:45:12.513123112 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.00sINFOobjective_server_node[0;93m2026-08-05 11:45:12.513151130 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302175 ms (missed cycles : 5). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302175 ms (missed cycles : 5).[0m ×2 + 0.21sINFOobjective_server_node[2026-08-05 11:45:12.726] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.72sINFOobjective_server_node[0;93m2026-08-05 11:45:13.233989837 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.72sINFOobjective_server_node[0;93m2026-08-05 11:45:13.234020439 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.86sINFOobjective_server_node[2026-08-05 11:45:13.373] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.92sINFOobjective_server_node[0;93m2026-08-05 11:45:13.432273875 [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 + 0.92sINFOobjective_server_node[0;93m2026-08-05 11:45:13.435481429 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.92sINFOobjective_server_node[0;93m2026-08-05 11:45:13.435508051 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.94sINFOobjective_server_node[2026-08-05 11:45:13.453] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446846 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446846 ms (missed cycles : 2).[0m ×2 + 1.35sINFOobjective_server_node[0;93m2026-08-05 11:45:13.863971580 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.38sINFOobjective_server_node[0;93m2026-08-05 11:45:13.888757225 [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 + 1.38sINFOobjective_server_node[0;93m2026-08-05 11:45:13.888796971 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612485 ms (missed cycles : 4). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612485 ms (missed cycles : 4).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785930315.82152891 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395244 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395244 ms (missed cycles : 4).[0m ×2 + 3.98sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.98sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.98sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785930316.57068038 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.14sINFOobjective_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 + 4.15sINFOobjective_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 + 4.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOros2_control_node[2026-08-05 11:45:16.979] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-05 11:45:16.979] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803604 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803604 ms (missed cycles : 2).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828603 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828603 ms (missed cycles : 2).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783394 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783394 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 26 warnings · 79 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-05 11:45:12.513123112 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.00sINFOobjective_server_node[0;93m2026-08-05 11:45:12.513151130 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302175 ms (missed cycles : 5). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302175 ms (missed cycles : 5).[0m ×2 + 0.21sINFOobjective_server_node[2026-08-05 11:45:12.726] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.72sINFOobjective_server_node[0;93m2026-08-05 11:45:13.233989837 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.72sINFOobjective_server_node[0;93m2026-08-05 11:45:13.234020439 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.86sINFOobjective_server_node[2026-08-05 11:45:13.373] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.92sINFOobjective_server_node[0;93m2026-08-05 11:45:13.432273875 [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 + 0.92sINFOobjective_server_node[0;93m2026-08-05 11:45:13.435481429 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.92sINFOobjective_server_node[0;93m2026-08-05 11:45:13.435508051 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.94sINFOobjective_server_node[2026-08-05 11:45:13.453] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446846 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446846 ms (missed cycles : 2).[0m ×2 + 1.35sINFOobjective_server_node[0;93m2026-08-05 11:45:13.863971580 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.38sINFOobjective_server_node[0;93m2026-08-05 11:45:13.888757225 [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 + 1.38sINFOobjective_server_node[0;93m2026-08-05 11:45:13.888796971 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612485 ms (missed cycles : 4). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612485 ms (missed cycles : 4).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785930315.82152891 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395244 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395244 ms (missed cycles : 4).[0m ×2 + 3.98sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.98sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.98sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785930316.57068038 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.14sINFOobjective_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 + 4.15sINFOobjective_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 + 4.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOros2_control_node[2026-08-05 11:45:16.979] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-05 11:45:16.979] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803604 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803604 ms (missed cycles : 2).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828603 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828603 ms (missed cycles : 2).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783394 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783394 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 26 warnings · 79 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-05 11:45:12.513123112 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.00sINFOobjective_server_node[0;93m2026-08-05 11:45:12.513151130 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302175 ms (missed cycles : 5). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302175 ms (missed cycles : 5).[0m ×2 + 0.21sINFOobjective_server_node[2026-08-05 11:45:12.726] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.72sINFOobjective_server_node[0;93m2026-08-05 11:45:13.233989837 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.72sINFOobjective_server_node[0;93m2026-08-05 11:45:13.234020439 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.86sINFOobjective_server_node[2026-08-05 11:45:13.373] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.92sINFOobjective_server_node[0;93m2026-08-05 11:45:13.432273875 [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 + 0.92sINFOobjective_server_node[0;93m2026-08-05 11:45:13.435481429 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.92sINFOobjective_server_node[0;93m2026-08-05 11:45:13.435508051 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.94sINFOobjective_server_node[2026-08-05 11:45:13.453] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446846 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446846 ms (missed cycles : 2).[0m ×2 + 1.35sINFOobjective_server_node[0;93m2026-08-05 11:45:13.863971580 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.38sINFOobjective_server_node[0;93m2026-08-05 11:45:13.888757225 [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 + 1.38sINFOobjective_server_node[0;93m2026-08-05 11:45:13.888796971 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612485 ms (missed cycles : 4). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612485 ms (missed cycles : 4).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785930315.82152891 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395244 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395244 ms (missed cycles : 4).[0m ×2 + 3.98sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.98sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.98sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785930316.57068038 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.14sINFOobjective_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 + 4.15sINFOobjective_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 + 4.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOros2_control_node[2026-08-05 11:45:16.979] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-05 11:45:16.979] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803604 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803604 ms (missed cycles : 2).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828603 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828603 ms (missed cycles : 2).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783394 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783394 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 18 errors · 31 warnings · 161 info |
+ 0.00sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×18 + 0.01sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.490400 ms (missed cycles : 6). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.490400 ms (missed cycles : 6).[0m ×2 + 0.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785930374.25428915 seconds ×3 + 0.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 0.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 0.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 0.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 1.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 1.56sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 1.56sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 1.56sINFOobjective_server_nodeError registering 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 + 1.60sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785930374.88221359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830099 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830099 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_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 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.75sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 1.75sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 1.76sINFOros2_control_node[2026-08-05 11:46:15.046] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-08-05 11:46:15.046] [info] Accepted new action goal ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852996 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852996 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 3.08sINFOobjective_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 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785930376.63332462 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172929 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172929 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785930377.25673175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (6.64e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.16sINFOros2_control_node[2026-08-05 11:46:17.441] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-08-05 11:46:17.441] [info] Accepted new action goal ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.227379 ms (missed cycles : 5). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.227379 ms (missed cycles : 5).[0m ×2 + 5.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393782 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393782 ms (missed cycles : 3).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361614 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361614 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 31 warnings · 61 info |
+ 0.00sINFOros2_control_node[2026-08-05 11:47:06.424] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-05 11:47:06.424] [info] Accepted new action goal ×2 + 0.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707876 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707876 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456777 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456777 ms (missed cycles : 4).[0m ×2 + 1.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-05 11:47:08.338] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-05 11:47:08.338] [info] Accepted new action goal ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238349 ms (missed cycles : 2). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238349 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785930429.72539496 seconds ×3 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073655 ms (missed cycles : 5). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073655 ms (missed cycles : 5).[0m ×2 + 4.08sWARNobjective_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 + 4.08sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.08sINFOobjective_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 ×2 + 4.12sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785930430.54631758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.33sINFOros2_control_node[2026-08-05 11:47:10.750] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-08-05 11:47:10.750] [info] Accepted new action goal ×2 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361625 ms (missed cycles : 2). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361625 ms (missed cycles : 2).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209838 ms (missed cycles : 5). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209838 ms (missed cycles : 5).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 31 warnings · 61 info |
+ 0.00sINFOros2_control_node[2026-08-05 11:47:06.424] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-05 11:47:06.424] [info] Accepted new action goal ×2 + 0.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707876 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707876 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456777 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456777 ms (missed cycles : 4).[0m ×2 + 1.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-05 11:47:08.338] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-05 11:47:08.338] [info] Accepted new action goal ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238349 ms (missed cycles : 2). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238349 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785930429.72539496 seconds ×3 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073655 ms (missed cycles : 5). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073655 ms (missed cycles : 5).[0m ×2 + 4.08sWARNobjective_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 + 4.08sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.08sINFOobjective_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 ×2 + 4.12sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785930430.54631758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.33sINFOros2_control_node[2026-08-05 11:47:10.750] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-08-05 11:47:10.750] [info] Accepted new action goal ×2 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361625 ms (missed cycles : 2). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361625 ms (missed cycles : 2).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209838 ms (missed cycles : 5). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209838 ms (missed cycles : 5).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 31 warnings · 61 info |
+ 0.00sINFOros2_control_node[2026-08-05 11:47:06.424] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-05 11:47:06.424] [info] Accepted new action goal ×2 + 0.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707876 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707876 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456777 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456777 ms (missed cycles : 4).[0m ×2 + 1.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-05 11:47:08.338] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-05 11:47:08.338] [info] Accepted new action goal ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238349 ms (missed cycles : 2). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238349 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785930429.72539496 seconds ×3 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073655 ms (missed cycles : 5). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073655 ms (missed cycles : 5).[0m ×2 + 4.08sWARNobjective_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 + 4.08sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.08sINFOobjective_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 ×2 + 4.12sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785930430.54631758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.33sINFOros2_control_node[2026-08-05 11:47:10.750] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-08-05 11:47:10.750] [info] Accepted new action goal ×2 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361625 ms (missed cycles : 2). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361625 ms (missed cycles : 2).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209838 ms (missed cycles : 5). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209838 ms (missed cycles : 5).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 31 warnings · 61 info |
+ 0.00sINFOros2_control_node[2026-08-05 11:47:06.424] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-05 11:47:06.424] [info] Accepted new action goal ×2 + 0.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707876 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707876 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456777 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456777 ms (missed cycles : 4).[0m ×2 + 1.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-05 11:47:08.338] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-05 11:47:08.338] [info] Accepted new action goal ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238349 ms (missed cycles : 2). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238349 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785930429.72539496 seconds ×3 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073655 ms (missed cycles : 5). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073655 ms (missed cycles : 5).[0m ×2 + 4.08sWARNobjective_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 + 4.08sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.08sINFOobjective_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 ×2 + 4.12sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785930430.54631758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.33sINFOros2_control_node[2026-08-05 11:47:10.750] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-08-05 11:47:10.750] [info] Accepted new action goal ×2 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361625 ms (missed cycles : 2). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361625 ms (missed cycles : 2).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209838 ms (missed cycles : 5). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209838 ms (missed cycles : 5).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 28 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439384 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439384 ms (missed cycles : 2).[0m ×2 + 0.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339457 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339457 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539038 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539038 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_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 + 3.19sERRORobjective_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: 1785930440.80686307 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.430305 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.430305 ms (missed cycles : 4).[0m ×2 + 3.79sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.79sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.79sINFOobjective_server_nodeError registering 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 + 3.79sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1785930441.40691042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.10sINFOros2_control_node[2026-08-05 11:47:21.713] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-08-05 11:47:21.713] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921870 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921870 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363564 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363564 ms (missed cycles : 4).[0m ×2 + 5.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109343 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109343 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 34 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761234 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761234 ms (missed cycles : 4).[0m ×2 + 0.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389495 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389495 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671427 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671427 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_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 + 3.25sERRORobjective_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: 1785930462.31158376 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157639 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157639 ms (missed cycles : 3).[0m ×2 + 3.85sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 3.86sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.86sINFOobjective_server_nodeError registering 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 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785930462.91670203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785930462.99684596 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010502 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010502 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785930463.58741593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_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 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785930463.60970712 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785930464.30775547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.37sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.38sINFOros2_control_node[2026-08-05 11:47:44.433] [info] Received new action goal ×2 + 5.38sINFOros2_control_node[2026-08-05 11:47:44.433] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767155 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767155 ms (missed cycles : 3).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.006622 ms (missed cycles : 8). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.006622 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 34 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761234 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761234 ms (missed cycles : 4).[0m ×2 + 0.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389495 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389495 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671427 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671427 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_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 + 3.25sERRORobjective_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: 1785930462.31158376 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157639 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157639 ms (missed cycles : 3).[0m ×2 + 3.85sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 3.86sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.86sINFOobjective_server_nodeError registering 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 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785930462.91670203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785930462.99684596 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010502 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010502 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785930463.58741593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_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 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785930463.60970712 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785930464.30775547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.37sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.38sINFOros2_control_node[2026-08-05 11:47:44.433] [info] Received new action goal ×2 + 5.38sINFOros2_control_node[2026-08-05 11:47:44.433] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767155 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767155 ms (missed cycles : 3).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.006622 ms (missed cycles : 8). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.006622 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 34 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761234 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761234 ms (missed cycles : 4).[0m ×2 + 0.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389495 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389495 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671427 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671427 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_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 + 3.25sERRORobjective_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: 1785930462.31158376 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157639 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157639 ms (missed cycles : 3).[0m ×2 + 3.85sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 3.86sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.86sINFOobjective_server_nodeError registering 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 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785930462.91670203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785930462.99684596 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010502 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010502 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785930463.58741593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_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 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785930463.60970712 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785930464.30775547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.37sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.38sINFOros2_control_node[2026-08-05 11:47:44.433] [info] Received new action goal ×2 + 5.38sINFOros2_control_node[2026-08-05 11:47:44.433] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767155 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767155 ms (missed cycles : 3).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.006622 ms (missed cycles : 8). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.006622 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 34 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761234 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761234 ms (missed cycles : 4).[0m ×2 + 0.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389495 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389495 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671427 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671427 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_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 + 3.25sERRORobjective_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: 1785930462.31158376 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157639 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157639 ms (missed cycles : 3).[0m ×2 + 3.85sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 3.86sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.86sINFOobjective_server_nodeError registering 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 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785930462.91670203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785930462.99684596 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010502 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010502 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785930463.58741593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_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 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785930463.60970712 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785930464.30775547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.37sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.38sINFOros2_control_node[2026-08-05 11:47:44.433] [info] Received new action goal ×2 + 5.38sINFOros2_control_node[2026-08-05 11:47:44.433] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767155 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767155 ms (missed cycles : 3).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.006622 ms (missed cycles : 8). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.006622 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 35 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230630 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230630 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148758 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148758 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_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 + 1.86sINFOros2_control_node[2026-08-05 11:47:54.808] [info] Got request to cancel active goal. ×2 + 1.86sINFOros2_control_node[2026-08-05 11:47:54.808] [info] Canceling active goal... ×2 + 1.86sERRORobjective_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: 1785930474.81224871 seconds ×3 + 1.87sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.87sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.87sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971815 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971815 ms (missed cycles : 3).[0m ×2 + 2.45sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 2.45sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.45sINFOobjective_server_nodeError registering 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 + 2.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785930475.40820909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785930476.02834940 seconds ×3 + 3.35sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942979 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942979 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785930476.63209748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.68sINFOobjective_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 + 3.69sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785930476.63391805 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.684201 ms (missed cycles : 6). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.684201 ms (missed cycles : 6).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785930477.33943105 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785930477.33991289 seconds ×3 + 4.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785930477.93440890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.892248 ms (missed cycles : 6). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.892248 ms (missed cycles : 6).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785930478.74453187 seconds ×3 + 5.83sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 35 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230630 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230630 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148758 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148758 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_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 + 1.86sINFOros2_control_node[2026-08-05 11:47:54.808] [info] Got request to cancel active goal. ×2 + 1.86sINFOros2_control_node[2026-08-05 11:47:54.808] [info] Canceling active goal... ×2 + 1.86sERRORobjective_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: 1785930474.81224871 seconds ×3 + 1.87sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.87sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.87sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971815 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971815 ms (missed cycles : 3).[0m ×2 + 2.45sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 2.45sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.45sINFOobjective_server_nodeError registering 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 + 2.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785930475.40820909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785930476.02834940 seconds ×3 + 3.35sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942979 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942979 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785930476.63209748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.68sINFOobjective_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 + 3.69sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785930476.63391805 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.684201 ms (missed cycles : 6). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.684201 ms (missed cycles : 6).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785930477.33943105 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785930477.33991289 seconds ×3 + 4.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785930477.93440890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.892248 ms (missed cycles : 6). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.892248 ms (missed cycles : 6).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785930478.74453187 seconds ×3 + 5.83sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 38 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 0.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 1.09sWARNobjective_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 ×5 + 1.09sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.09sINFOobjective_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 ×10 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4).[0m ×2 + 5.75sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 38 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 0.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 1.09sWARNobjective_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 ×5 + 1.09sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.09sINFOobjective_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 ×10 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4).[0m ×2 + 5.75sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 38 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 0.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 1.09sWARNobjective_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 ×5 + 1.09sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.09sINFOobjective_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 ×10 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4).[0m ×2 + 5.75sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 38 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 0.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 1.09sWARNobjective_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 ×5 + 1.09sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.09sINFOobjective_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 ×10 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4).[0m ×2 + 5.75sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 38 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 0.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 1.09sWARNobjective_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 ×5 + 1.09sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.09sINFOobjective_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 ×10 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4).[0m ×2 + 5.75sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 38 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 0.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 1.09sWARNobjective_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 ×5 + 1.09sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.09sINFOobjective_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 ×10 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4).[0m ×2 + 5.75sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 38 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 0.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 1.09sWARNobjective_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 ×5 + 1.09sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.09sINFOobjective_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 ×10 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4).[0m ×2 + 5.75sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 9.1s | 1 error · 729 warnings · 1082 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/2026-08-05-11-33-40-033474-47c4568d25d7-9084 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 2.04sINFOros2_control_node-1process started with pid [9132] + 2.04sINFOmove_group-9process started with pid [9169] + 2.04sINFOparameter_manager_node-10process started with pid [9170] + 2.04sINFOwaypoint_manager_node-11process started with pid [9171] + 2.06sINFOmove_joint_resampler_node-12process started with pid [9172] + 2.06sINFOmove_end_effector_resampler_node-13process started with pid [9173] + 2.06sINFOobjective_server_node_main-14process started with pid [9174] + 2.06sINFOcomponent_container_mt-15process started with pid [9175] + 2.06sINFOcomponent_container_mt-16process started with pid [9176] + 2.06sINFOexecute_objective_bridge-17process started with pid [9177] + 2.06sINFOui_teleop_bridge-18process started with pid [9178] + 2.06sINFOweb_bridge-19process started with pid [9179] + 2.06sINFOtf2_web_republisher_node-20process started with pid [9243] + 2.06sINFOvideo_server-21process started with pid [9251] + 2.06sINFOweb_bridge_auth_proxy-22process started with pid [9270] + 2.06sINFOweb_video_auth_proxy-23process started with pid [9271] + 2.08sINFOros2-2process started with pid [9133] + 2.08sINFOros2-3process started with pid [9134] + 2.08sINFOros2-4process started with pid [9135] + 2.08sINFOros2-5process started with pid [9136] + 2.08sINFOros2-6process started with pid [9137] + 2.08sINFOros2-7process started with pid [9138] + 2.08sINFOros2-8process started with pid [9139] + 2.11sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 2.11sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 2.11sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 2.11sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 2.11sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 2.11sWARNros2_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 ×3 + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.498785 ms (missed cycles : 4).[0m + 2.11sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 2.11sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 2.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 2.12sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 2.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 2.25sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 2.38sINFOvideo_server2026/08/05 11:33:43 INF MediaMTX v1.19.3, linux, amd64 + 2.38sINFOvideo_server2026/08/05 11:33:43 INF configuration loaded from /tmp/moveit-webrtc-hzgqg_e8/mediamtx.yml + 2.39sINFOvideo_server2026/08/05 11:33:43 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 2.39sINFOvideo_server2026/08/05 11:33:43 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 3.11sINFOmove_group[2026-08-05 11:33:43.902] [moveit_pro_license] [info] + 3.11sINFOmove_group************************************************* ×6 + 3.11sINFOmove_group* MoveIt Pro License ×3 + 3.11sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 3.17sINFOwaypoint_manager_node[2026-08-05 11:33:43.952] [moveit_pro_license] [info] + 3.17sINFOwaypoint_manager_node************************************************* ×6 + 3.17sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 3.17sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.645476 ms (missed cycles : 7).[0m + 3.31sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 3.48sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 3.55sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 3.55sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 3.56sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 3.56sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 3.57sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 3.57sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 3.57sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 3.63sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 3.67sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 3.70sINFOmove_group ×6 + 3.70sINFOmove_group[92mYou can start planning now![0m ×3 + 3.76sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 3.76sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 4.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 4.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645234 ms (missed cycles : 3).[0m + 4.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 5.09sINFOobjective_server_node[2026-08-05 11:33:45.881] [moveit_pro_license] [info] + 5.09sINFOobjective_server_node************************************************* ×6 + 5.09sINFOobjective_server_node* MoveIt Pro License ×3 + 5.09sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 5.20sINFOobjective_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. ×3 + 5.20sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 5.21sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×3 + 5.21sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 5.21sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 5.21sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 5.21sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 5.21sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×3 + 5.21sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 5.21sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×3 + 5.35sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 5.57sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×3 + 5.57sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×3 + 5.57sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 5.57sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 5.57sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 5.57sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 5.57sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 5.57sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 5.57sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 5.57sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 5.62sINFOcomponent_container_mt[2026-08-05 11:33:46.405] [moveit_pro_license] [info] + 5.62sINFOcomponent_container_mt************************************************* ×6 + 5.62sINFOcomponent_container_mt* MoveIt Pro License ×3 + 5.62sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 5.63sWARNobjective_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/. ×3 + 5.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 5.67sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 5.67sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 5.77sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_e2v6fzpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1xq56fcg --params-file /tmp/launch_params_lfyipgym [0m + 5.79sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 5.79sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 5.79sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×9 + 5.82sINFOros2_control_node[2026-08-05 11:33:46.603] [info] Controller state will be published at 10 Hz. + 5.82sINFOros2_control_node[2026-08-05 11:33:46.604] [info] VelocityForceController 'on_configure' succeeded. + 5.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 6.08sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×3 + 6.13sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×3 + 6.13sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×3 + 6.16sINFOros2-7process has finished cleanly [pid 9138] + 6.19sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_e2v6fzpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1xq56fcg --params-file /tmp/launch_params_lfyipgym [0m + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719120 ms (missed cycles : 2).[0m + 6.24sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×3 + 6.24sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×3 + 6.24sINFOros2_control_node[2026-08-05 11:33:47.029] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 6.24sINFOros2_control_node[2026-08-05 11:33:47.029] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 6.26sINFOros2_control_node[2026-08-05 11:33:47.053] [info] First order lag filter time constant set to: 0.2 seconds + 6.26sINFOros2_control_node[2026-08-05 11:33:47.053] [info] Controller state will be published at 50 Hz. + 6.27sINFOros2_control_node[2026-08-05 11:33:47.059] [info] Registered `FollowJointTrajectory` action server. + 6.58sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×3 + 6.59sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×3 + 6.59sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_e2v6fzpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1xq56fcg --params-file /tmp/launch_params_lfyipgym [0m + 6.60sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 6.64sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×3 + 6.64sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×3 + 6.64sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 6.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×3 + 6.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×73 + 6.64sINFOros2-6process has finished cleanly [pid 9137] + 6.65sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×3 + 6.97sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 6.97sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 6.97sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_e2v6fzpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1xq56fcg --params-file /tmp/launch_params_lfyipgym [0m + 7.01sINFOros2-3process has finished cleanly [pid 9134] + 7.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 7.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 7.05sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×3 + 7.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 7.05sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 7.06sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×3 + 7.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 7.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×5 + 7.07sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×3 + 7.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 7.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 7.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_e2v6fzpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1xq56fcg --params-file /tmp/launch_params_lfyipgym [0m + 7.42sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 7.42sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×3 + 7.42sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 7.42sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 7.42sINFOros2-5process has finished cleanly [pid 9136] + 7.43sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 7.43sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 7.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 7.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 7.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×58 + 7.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×30 + 7.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×30 + 7.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 7.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886463 ms (missed cycles : 2).[0m + 7.70sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 7.73sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 7.73sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 7.77sINFOros2-4process has finished cleanly [pid 9135] + 7.79sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_e2v6fzpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1xq56fcg --params-file /tmp/launch_params_lfyipgym [0m + 7.85sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 7.85sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 7.87sINFOros2_control_node[2026-08-05 11:33:48.662] [info] Controller state will be published at 20 Hz. + 7.87sINFOros2_control_node[2026-08-05 11:33:48.662] [info] JointVelocityController 'on_configure' succeeded. + 8.15sWARNobjective_server_nodeNot all Objectives could be registered: ×21 + 8.15sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×21 + 8.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785929628.94306397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 8.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785929628.95328403 seconds + 8.22sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 8.22sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 8.22sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_e2v6fzpw --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1xq56fcg --params-file /tmp/launch_params_lfyipgym [0m + 8.25sINFOros2-8process has finished cleanly [pid 9139] + 8.26sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 8.26sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 8.27sINFOros2_control_nodeconfigure successful[0m ×3 + 8.27sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 8.28sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 8.61sINFOros2-2process has finished cleanly [pid 9133] + 8.76sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785929629.55348897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 8.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×10 + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834971 ms (missed cycles : 2).[0m + 9.59sWARNros2_control_nodeCamera render tick took 1.77 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m + 9.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785929630.61365914 seconds + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897660 ms (missed cycles : 2).[0m + 10.45sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785929631.23914552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 10.51sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785929631.29930377 seconds + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804447 ms (missed cycles : 3).[0m + 11.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785929631.95000768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 11.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785929631.97013903 seconds + 11.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×8 + 11.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785929632.69736743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432933 ms (missed cycles : 3).[0m + 12.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785929632.84795403 seconds + 12.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785929633.49376655 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 12.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m + 12.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 12.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 12.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785929633.53401375 seconds + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988706 ms (missed cycles : 2).[0m + 13.35sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785929634.13602710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 13.36sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller + 13.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m + 13.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×3 + 13.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m + 13.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m + 13.47sINFOobjective_server_nodeFound path in 0 iterations (3.9956e-05 s). + 13.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 13.48sINFOros2_control_node[2026-08-05 11:33:54.273] [info] Received new action goal + 13.49sINFOros2_control_node[2026-08-05 11:33:54.273] [info] Accepted new action goal + 14.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321521 ms (missed cycles : 5).[0m + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083574 ms (missed cycles : 4).[0m + 15.59sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m + 15.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 15.98sINFOobjective_server_nodeFound path in 0 iterations (5.48e-07 s). + 15.98sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 15.99sINFOros2_control_node[2026-08-05 11:33:56.780] [info] Received new action goal + 15.99sINFOros2_control_node[2026-08-05 11:33:56.780] [info] Accepted new action goal + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087046 ms (missed cycles : 2).[0m + 16.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×14 + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470187 ms (missed cycles : 3).[0m + 18.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058753 ms (missed cycles : 2).[0m + 19.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179027 ms (missed cycles : 2).[0m + 19.71sINFOobjective_server_nodeFound path in 0 iterations (4.54e-07 s). + 19.73sINFOros2_control_node[2026-08-05 11:34:00.521] [info] Received new action goal + 19.73sINFOros2_control_node[2026-08-05 11:34:00.521] [info] Accepted new action goal + 20.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.156322 ms (missed cycles : 4).[0m + 21.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594679 ms (missed cycles : 4).[0m + 22.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476654 ms (missed cycles : 3).[0m + 22.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×7 + 23.04sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). + 23.05sINFOobjective_server_nodePath shortcutter: [X_________________X] + 23.06sINFOros2_control_node[2026-08-05 11:34:03.850] [info] Received new action goal + 23.06sINFOros2_control_node[2026-08-05 11:34:03.850] [info] Accepted new action goal + 23.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683965 ms (missed cycles : 2).[0m + 23.81sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×2 + 23.82sINFOros2_control_node[2026-08-05 11:34:04.606] [info] Got request to cancel active goal. + 23.82sINFOros2_control_node[2026-08-05 11:34:04.606] [info] Canceling active goal... + 23.83sERRORobjective_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: 1785929644.62265682 seconds + 23.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×12 + 23.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×12 + 23.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×12 + 24.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785929645.28865480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 24.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282977 ms (missed cycles : 2).[0m + 24.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785929645.41126513 seconds + 25.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785929646.01002884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 25.41sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). + 25.41sINFOobjective_server_nodePath shortcutter: [X______X] + 25.42sINFOros2_control_node[2026-08-05 11:34:06.204] [info] Received new action goal + 25.42sINFOros2_control_node[2026-08-05 11:34:06.204] [info] Accepted new action goal + 25.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118896 ms (missed cycles : 5).[0m + 26.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211910 ms (missed cycles : 2).[0m + 27.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928720 ms (missed cycles : 2).[0m + 28.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×26 + 29.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889650 ms (missed cycles : 3).[0m + 30.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.766505 ms (missed cycles : 6).[0m + 31.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837732 ms (missed cycles : 3).[0m + 32.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190301 ms (missed cycles : 3).[0m + 33.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 33.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.146398 ms (missed cycles : 4).[0m + 34.17sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 34.18sINFOobjective_server_nodeFound detection with id: 0, label: %s + 34.47sINFOobjective_server_nodeFound path in 0 iterations (2.12e-07 s). + 34.47sINFOobjective_server_nodePath shortcutter: [X__________X] + 34.48sINFOobjective_server_nodeFound path in 0 iterations (2.13e-07 s). + 34.48sINFOobjective_server_nodePath shortcutter: [X________________X] + 34.49sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). + 34.53sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 34.56sINFOobjective_server_nodeFound path in 1 iterations (0.00319552 s). + 34.64sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 34.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984017 ms (missed cycles : 2).[0m + 34.72sINFOros2_control_node[2026-08-05 11:34:15.513] [info] Received new action goal + 34.73sINFOros2_control_node[2026-08-05 11:34:15.513] [info] Accepted new action goal + 35.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906059 ms (missed cycles : 5).[0m + 36.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.205589 ms (missed cycles : 4).[0m + 37.20sINFOros2_control_node[2026-08-05 11:34:17.986] [info] Received new action goal + 37.20sINFOros2_control_node[2026-08-05 11:34:17.986] [info] Accepted new action goal + 37.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.200842 ms (missed cycles : 6).[0m + 39.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.874515 ms (missed cycles : 7).[0m + 39.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×9 + 39.09sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. + 39.10sINFOobjective_server_nodePlanning for 2 path waypoints. + 39.12sINFOros2_control_node[2026-08-05 11:34:19.903] [info] Received new action goal + 39.12sINFOros2_control_node[2026-08-05 11:34:19.903] [info] Accepted new action goal + 40.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.411431 ms (missed cycles : 6).[0m + 40.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785929661.29018760 seconds + 41.11sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785929661.90106440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 41.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865958 ms (missed cycles : 2).[0m + 41.19sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785929661.98117709 seconds + 41.82sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785929662.60731316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 41.93sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). + 41.93sINFOobjective_server_nodePath shortcutter: [X_____________X] + 41.94sINFOros2_control_node[2026-08-05 11:34:22.731] [info] Received new action goal + 41.94sINFOros2_control_node[2026-08-05 11:34:22.731] [info] Accepted new action goal + 42.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.662665 ms (missed cycles : 5).[0m + 43.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443107 ms (missed cycles : 4).[0m + 44.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965429 ms (missed cycles : 2).[0m + 45.29sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). + 45.30sINFOros2_control_node[2026-08-05 11:34:26.091] [info] Received new action goal + 45.30sINFOros2_control_node[2026-08-05 11:34:26.091] [info] Accepted new action goal + 45.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563120 ms (missed cycles : 2).[0m + 46.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113488 ms (missed cycles : 2).[0m + 47.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280236 ms (missed cycles : 5).[0m + 47.63sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). + 47.64sINFOros2_control_node[2026-08-05 11:34:28.429] [info] Received new action goal + 47.64sINFOros2_control_node[2026-08-05 11:34:28.429] [info] Accepted new action goal + 48.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671238 ms (missed cycles : 3).[0m + 49.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.407151 ms (missed cycles : 7).[0m + 50.00sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). + 50.01sINFOros2_control_node[2026-08-05 11:34:30.799] [info] Received new action goal + 50.01sINFOros2_control_node[2026-08-05 11:34:30.799] [info] Accepted new action goal + 50.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797879 ms (missed cycles : 5).[0m + 51.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×14 + 51.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227552 ms (missed cycles : 2).[0m + 52.22sINFOros2_control_node[2026-08-05 11:34:33.007] [info] Got request to cancel active goal. + 52.22sINFOros2_control_node[2026-08-05 11:34:33.007] [info] Canceling active goal... + 52.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.738347 ms (missed cycles : 6).[0m + 53.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113089 ms (missed cycles : 5).[0m + 55.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453901 ms (missed cycles : 2).[0m + 56.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.618445 ms (missed cycles : 6).[0m + 57.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054444 ms (missed cycles : 4).[0m + 58.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872573 ms (missed cycles : 5).[0m + 59.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963862 ms (missed cycles : 2).[0m + 61.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402572 ms (missed cycles : 4).[0m + 61.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×16 + 62.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261168 ms (missed cycles : 2).[0m + 63.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623448 ms (missed cycles : 2).[0m + 64.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031935 ms (missed cycles : 2).[0m + 65.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120126 ms (missed cycles : 2).[0m + 66.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903129 ms (missed cycles : 2).[0m + 68.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307366 ms (missed cycles : 4).[0m + 69.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387686 ms (missed cycles : 3).[0m + 70.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.439819 ms (missed cycles : 6).[0m + 71.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.327113 ms (missed cycles : 6).[0m + 72.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715541 ms (missed cycles : 2).[0m + 73.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826421 ms (missed cycles : 5).[0m + 74.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029414 ms (missed cycles : 3).[0m + 75.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440429 ms (missed cycles : 5).[0m + 75.59sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m + 76.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289107 ms (missed cycles : 2).[0m + 77.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340513 ms (missed cycles : 3).[0m + 78.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508495 ms (missed cycles : 2).[0m + 79.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240739 ms (missed cycles : 2).[0m + 80.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509399 ms (missed cycles : 4).[0m + 81.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.860178 ms (missed cycles : 5).[0m + 82.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731887 ms (missed cycles : 2).[0m + 83.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217900 ms (missed cycles : 2).[0m + 84.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193163 ms (missed cycles : 5).[0m + 85.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.577359 ms (missed cycles : 4).[0m + 87.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.936905 ms (missed cycles : 5).[0m + 88.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743849 ms (missed cycles : 2).[0m + 89.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989537 ms (missed cycles : 2).[0m + 90.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838264 ms (missed cycles : 2).[0m + 91.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264575 ms (missed cycles : 3).[0m + 92.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556607 ms (missed cycles : 2).[0m + 93.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711591 ms (missed cycles : 3).[0m + 94.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251378 ms (missed cycles : 2).[0m + 95.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735164 ms (missed cycles : 4).[0m + 96.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587492 ms (missed cycles : 5).[0m + 97.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459769 ms (missed cycles : 2).[0m + 98.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185385 ms (missed cycles : 4).[0m + 99.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.671766 ms (missed cycles : 6).[0m +100.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.785074 ms (missed cycles : 5).[0m +102.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.478406 ms (missed cycles : 6).[0m +103.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296280 ms (missed cycles : 2).[0m +104.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.662513 ms (missed cycles : 5).[0m +105.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126316 ms (missed cycles : 5).[0m +106.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921526 ms (missed cycles : 3).[0m +107.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.266875 ms (missed cycles : 5).[0m +108.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480307 ms (missed cycles : 4).[0m +109.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582919 ms (missed cycles : 3).[0m +110.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385149 ms (missed cycles : 2).[0m +112.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793750 ms (missed cycles : 2).[0m +113.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973878 ms (missed cycles : 5).[0m +114.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068755 ms (missed cycles : 3).[0m +115.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211139 ms (missed cycles : 2).[0m +116.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852586 ms (missed cycles : 3).[0m +117.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912697 ms (missed cycles : 5).[0m +118.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.299860 ms (missed cycles : 5).[0m +119.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407905 ms (missed cycles : 4).[0m +120.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.546464 ms (missed cycles : 4).[0m +121.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972006 ms (missed cycles : 2).[0m +122.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.651771 ms (missed cycles : 5).[0m +123.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148385 ms (missed cycles : 2).[0m +124.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938152 ms (missed cycles : 3).[0m +125.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.187484 ms (missed cycles : 5).[0m +126.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847876 ms (missed cycles : 3).[0m +127.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306219 ms (missed cycles : 5).[0m +129.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782713 ms (missed cycles : 2).[0m +130.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168051 ms (missed cycles : 5).[0m +131.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.932577 ms (missed cycles : 5).[0m +132.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719161 ms (missed cycles : 2).[0m +133.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478741 ms (missed cycles : 4).[0m +134.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991742 ms (missed cycles : 5).[0m +135.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805195 ms (missed cycles : 5).[0m +135.59sINFOros2_control_nodeMuJoCo sim: 0.14% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 +136.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475654 ms (missed cycles : 3).[0m +137.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.355090 ms (missed cycles : 6).[0m +138.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.712895 ms (missed cycles : 5).[0m +139.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088669 ms (missed cycles : 2).[0m +140.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201327 ms (missed cycles : 2).[0m +141.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459189 ms (missed cycles : 3).[0m +143.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675991 ms (missed cycles : 3).[0m +144.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.471305 ms (missed cycles : 6).[0m +145.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.229842 ms (missed cycles : 5).[0m +146.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162576 ms (missed cycles : 5).[0m +147.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.536578 ms (missed cycles : 6).[0m +148.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.945817 ms (missed cycles : 5).[0m +149.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818187 ms (missed cycles : 2).[0m +150.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180098 ms (missed cycles : 4).[0m +151.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458671 ms (missed cycles : 4).[0m +152.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508151 ms (missed cycles : 3).[0m +153.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820294 ms (missed cycles : 2).[0m +154.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374986 ms (missed cycles : 3).[0m +155.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265523 ms (missed cycles : 4).[0m +156.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603159 ms (missed cycles : 3).[0m +157.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584757 ms (missed cycles : 3).[0m +158.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060527 ms (missed cycles : 2).[0m +160.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.106725 ms (missed cycles : 4).[0m +161.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480951 ms (missed cycles : 3).[0m +162.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.206039 ms (missed cycles : 5).[0m +163.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301348 ms (missed cycles : 2).[0m +164.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520266 ms (missed cycles : 2).[0m +165.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502978 ms (missed cycles : 3).[0m +166.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.641092 ms (missed cycles : 5).[0m +167.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541114 ms (missed cycles : 2).[0m +168.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949631 ms (missed cycles : 3).[0m +169.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158114 ms (missed cycles : 5).[0m +170.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217764 ms (missed cycles : 5).[0m +171.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075503 ms (missed cycles : 2).[0m +172.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598031 ms (missed cycles : 3).[0m +173.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m +173.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.154981 ms (missed cycles : 5).[0m +174.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429716 ms (missed cycles : 2).[0m +175.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037767 ms (missed cycles : 2).[0m +177.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056725 ms (missed cycles : 4).[0m +178.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258730 ms (missed cycles : 2).[0m +179.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.299688 ms (missed cycles : 5).[0m +180.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137396 ms (missed cycles : 2).[0m +181.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914466 ms (missed cycles : 2).[0m +182.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128137 ms (missed cycles : 2).[0m +183.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402602 ms (missed cycles : 2).[0m +184.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.185307 ms (missed cycles : 6).[0m +185.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286994 ms (missed cycles : 2).[0m +186.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512058 ms (missed cycles : 3).[0m +187.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.932563 ms (missed cycles : 6).[0m +188.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.332591 ms (missed cycles : 5).[0m +189.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058532 ms (missed cycles : 2).[0m +191.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382749 ms (missed cycles : 4).[0m +192.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199476 ms (missed cycles : 2).[0m +193.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936749 ms (missed cycles : 3).[0m +194.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434061 ms (missed cycles : 4).[0m +195.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438272 ms (missed cycles : 2).[0m +196.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723662 ms (missed cycles : 3).[0m +197.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716260 ms (missed cycles : 2).[0m +198.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.394966 ms (missed cycles : 4).[0m +199.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910958 ms (missed cycles : 2).[0m +200.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450447 ms (missed cycles : 3).[0m +201.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852995 ms (missed cycles : 2).[0m +202.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.667818 ms (missed cycles : 5).[0m +203.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790330 ms (missed cycles : 2).[0m +204.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984389 ms (missed cycles : 2).[0m +205.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.893111 ms (missed cycles : 5).[0m +206.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685280 ms (missed cycles : 2).[0m +207.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.652774 ms (missed cycles : 4).[0m +208.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973149 ms (missed cycles : 2).[0m +210.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.344325 ms (missed cycles : 4).[0m +211.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730742 ms (missed cycles : 5).[0m +212.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681963 ms (missed cycles : 3).[0m +213.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329336 ms (missed cycles : 2).[0m +214.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410926 ms (missed cycles : 4).[0m +215.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369447 ms (missed cycles : 3).[0m +216.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.499009 ms (missed cycles : 6).[0m +217.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767668 ms (missed cycles : 5).[0m +218.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.276897 ms (missed cycles : 5).[0m +220.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642989 ms (missed cycles : 2).[0m +221.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288693 ms (missed cycles : 4).[0m +222.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814011 ms (missed cycles : 2).[0m +223.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798679 ms (missed cycles : 3).[0m +224.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501496 ms (missed cycles : 3).[0m +225.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578027 ms (missed cycles : 2).[0m +226.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.529729 ms (missed cycles : 4).[0m +227.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764050 ms (missed cycles : 2).[0m +228.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493981 ms (missed cycles : 2).[0m +229.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245395 ms (missed cycles : 2).[0m +230.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871474 ms (missed cycles : 2).[0m +231.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403453 ms (missed cycles : 4).[0m +232.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539744 ms (missed cycles : 5).[0m +233.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856077 ms (missed cycles : 2).[0m +234.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716039 ms (missed cycles : 3).[0m +235.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280404 ms (missed cycles : 5).[0m +236.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909816 ms (missed cycles : 3).[0m +237.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167233 ms (missed cycles : 2).[0m +238.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721357 ms (missed cycles : 3).[0m +239.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693067 ms (missed cycles : 2).[0m +241.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619467 ms (missed cycles : 2).[0m +242.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.821241 ms (missed cycles : 5).[0m +243.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.711500 ms (missed cycles : 6).[0m +244.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.245045 ms (missed cycles : 5).[0m +245.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594888 ms (missed cycles : 2).[0m +246.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140350 ms (missed cycles : 2).[0m +247.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751824 ms (missed cycles : 3).[0m +248.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992250 ms (missed cycles : 3).[0m +249.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354850 ms (missed cycles : 3).[0m +250.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478277 ms (missed cycles : 4).[0m +251.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562255 ms (missed cycles : 2).[0m +252.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616603 ms (missed cycles : 3).[0m +253.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.522516 ms (missed cycles : 5).[0m +254.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.114219 ms (missed cycles : 6).[0m +255.59sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m +255.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982845 ms (missed cycles : 5).[0m +256.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.610143 ms (missed cycles : 6).[0m +257.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.015922 ms (missed cycles : 5).[0m +259.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531995 ms (missed cycles : 2).[0m +260.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589429 ms (missed cycles : 2).[0m +261.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205145 ms (missed cycles : 2).[0m +262.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091430 ms (missed cycles : 2).[0m +263.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.337787 ms (missed cycles : 5).[0m +264.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666195 ms (missed cycles : 2).[0m +265.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008770 ms (missed cycles : 5).[0m +266.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731241 ms (missed cycles : 3).[0m +267.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.287469 ms (missed cycles : 4).[0m +268.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031775 ms (missed cycles : 2).[0m +269.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009233 ms (missed cycles : 2).[0m +270.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975063 ms (missed cycles : 3).[0m +271.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303402 ms (missed cycles : 4).[0m +273.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.376985 ms (missed cycles : 6).[0m +274.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.322819 ms (missed cycles : 5).[0m +275.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322099 ms (missed cycles : 5).[0m +276.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472521 ms (missed cycles : 3).[0m +277.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.678814 ms (missed cycles : 5).[0m +278.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479129 ms (missed cycles : 2).[0m +279.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078481 ms (missed cycles : 2).[0m +280.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443721 ms (missed cycles : 3).[0m +281.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742037 ms (missed cycles : 3).[0m +282.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.221416 ms (missed cycles : 5).[0m +283.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785113 ms (missed cycles : 2).[0m +284.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.970772 ms (missed cycles : 5).[0m +285.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.991018 ms (missed cycles : 5).[0m +286.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343150 ms (missed cycles : 3).[0m +287.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.964737 ms (missed cycles : 5).[0m +288.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.497372 ms (missed cycles : 4).[0m +289.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989937 ms (missed cycles : 2).[0m +291.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279748 ms (missed cycles : 2).[0m +292.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.527830 ms (missed cycles : 6).[0m +293.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092643 ms (missed cycles : 2).[0m +294.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.242510 ms (missed cycles : 5).[0m +295.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152148 ms (missed cycles : 2).[0m +296.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849479 ms (missed cycles : 3).[0m +297.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.956379 ms (missed cycles : 3).[0m +298.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680989 ms (missed cycles : 3).[0m +299.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086117 ms (missed cycles : 2).[0m +300.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.771584 ms (missed cycles : 5).[0m +301.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.265074 ms (missed cycles : 5).[0m +303.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341263 ms (missed cycles : 3).[0m +304.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022267 ms (missed cycles : 2).[0m +305.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321136 ms (missed cycles : 2).[0m +306.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162634 ms (missed cycles : 4).[0m +307.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.369775 ms (missed cycles : 4).[0m +308.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457116 ms (missed cycles : 2).[0m +309.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373320 ms (missed cycles : 3).[0m +310.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494247 ms (missed cycles : 4).[0m +311.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505566 ms (missed cycles : 4).[0m +312.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192570 ms (missed cycles : 4).[0m +313.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656651 ms (missed cycles : 2).[0m +314.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725917 ms (missed cycles : 2).[0m +315.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083641 ms (missed cycles : 2).[0m +315.60sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m +316.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065365 ms (missed cycles : 4).[0m +317.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.855581 ms (missed cycles : 5).[0m +318.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844358 ms (missed cycles : 2).[0m +319.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438850 ms (missed cycles : 2).[0m +320.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871536 ms (missed cycles : 2).[0m +321.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390544 ms (missed cycles : 3).[0m +322.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832549 ms (missed cycles : 3).[0m +323.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.972660 ms (missed cycles : 5).[0m +325.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434559 ms (missed cycles : 4).[0m +326.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418957 ms (missed cycles : 2).[0m +327.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478322 ms (missed cycles : 5).[0m +328.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822195 ms (missed cycles : 5).[0m +329.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476944 ms (missed cycles : 2).[0m +330.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180370 ms (missed cycles : 2).[0m +331.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695394 ms (missed cycles : 5).[0m +332.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756966 ms (missed cycles : 3).[0m +333.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539232 ms (missed cycles : 4).[0m +334.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911770 ms (missed cycles : 3).[0m +335.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.205846 ms (missed cycles : 5).[0m +336.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331930 ms (missed cycles : 2).[0m +337.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712731 ms (missed cycles : 5).[0m +338.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837771 ms (missed cycles : 5).[0m +339.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852705 ms (missed cycles : 2).[0m +340.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704818 ms (missed cycles : 2).[0m +341.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.275231 ms (missed cycles : 4).[0m +343.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783858 ms (missed cycles : 3).[0m +344.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816069 ms (missed cycles : 2).[0m +345.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167093 ms (missed cycles : 4).[0m +346.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180492 ms (missed cycles : 3).[0m +347.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353839 ms (missed cycles : 4).[0m +348.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201674 ms (missed cycles : 3).[0m +349.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756898 ms (missed cycles : 3).[0m +350.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775183 ms (missed cycles : 2).[0m +351.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683321 ms (missed cycles : 2).[0m +352.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327057 ms (missed cycles : 4).[0m +353.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.344717 ms (missed cycles : 4).[0m +354.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.710017 ms (missed cycles : 6).[0m +356.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.599782 ms (missed cycles : 4).[0m +357.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.241193 ms (missed cycles : 6).[0m +358.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.781594 ms (missed cycles : 5).[0m +359.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.635792 ms (missed cycles : 6).[0m +360.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.178010 ms (missed cycles : 4).[0m +361.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380013 ms (missed cycles : 3).[0m +362.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528541 ms (missed cycles : 3).[0m +363.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152814 ms (missed cycles : 2).[0m +364.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728515 ms (missed cycles : 2).[0m +365.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.913004 ms (missed cycles : 5).[0m +366.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.089518 ms (missed cycles : 5).[0m +367.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707346 ms (missed cycles : 2).[0m +369.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686599 ms (missed cycles : 2).[0m +370.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929160 ms (missed cycles : 2).[0m +371.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139398 ms (missed cycles : 4).[0m +372.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547250 ms (missed cycles : 2).[0m +373.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097624 ms (missed cycles : 3).[0m +374.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325507 ms (missed cycles : 5).[0m +375.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418201 ms (missed cycles : 4).[0m +375.60sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +376.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929652 ms (missed cycles : 2).[0m +377.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.973438 ms (missed cycles : 5).[0m +378.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.234881 ms (missed cycles : 5).[0m +379.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.707210 ms (missed cycles : 6).[0m +380.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912782 ms (missed cycles : 2).[0m +381.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003447 ms (missed cycles : 2).[0m +382.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m +382.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.855313 ms (missed cycles : 4).[0m +383.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.546129 ms (missed cycles : 4).[0m +384.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323637 ms (missed cycles : 5).[0m +385.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837741 ms (missed cycles : 2).[0m +386.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.942890 ms (missed cycles : 5).[0m +388.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.054506 ms (missed cycles : 5).[0m +389.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.747667 ms (missed cycles : 5).[0m +390.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169072 ms (missed cycles : 4).[0m +391.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505275 ms (missed cycles : 3).[0m +392.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.263469 ms (missed cycles : 5).[0m +393.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683494 ms (missed cycles : 2).[0m +394.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937063 ms (missed cycles : 3).[0m +396.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956779 ms (missed cycles : 3).[0m +397.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302417 ms (missed cycles : 4).[0m +398.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420762 ms (missed cycles : 2).[0m +399.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338166 ms (missed cycles : 2).[0m +400.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537696 ms (missed cycles : 3).[0m +401.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804168 ms (missed cycles : 5).[0m +402.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572048 ms (missed cycles : 3).[0m +403.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.014491 ms (missed cycles : 5).[0m +404.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313449 ms (missed cycles : 2).[0m +405.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.579052 ms (missed cycles : 4).[0m +406.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988269 ms (missed cycles : 5).[0m +407.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251985 ms (missed cycles : 2).[0m +408.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240411 ms (missed cycles : 2).[0m +409.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336161 ms (missed cycles : 3).[0m +411.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138640 ms (missed cycles : 2).[0m +412.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.270996 ms (missed cycles : 5).[0m +413.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.691613 ms (missed cycles : 5).[0m +414.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×4 +414.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.111997 ms (missed cycles : 5).[0m +415.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318896 ms (missed cycles : 2).[0m +416.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818876 ms (missed cycles : 4).[0m +417.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317130 ms (missed cycles : 3).[0m +418.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365626 ms (missed cycles : 5).[0m +419.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066373 ms (missed cycles : 5).[0m +420.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776469 ms (missed cycles : 3).[0m +421.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727297 ms (missed cycles : 4).[0m +422.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428142 ms (missed cycles : 5).[0m +423.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569619 ms (missed cycles : 2).[0m +424.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.089010 ms (missed cycles : 7).[0m +426.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891601 ms (missed cycles : 2).[0m +426.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 +427.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.566169 ms (missed cycles : 6).[0m +428.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.113361 ms (missed cycles : 6).[0m +429.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801491 ms (missed cycles : 5).[0m +430.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202427 ms (missed cycles : 2).[0m +431.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438666 ms (missed cycles : 4).[0m +432.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513561 ms (missed cycles : 4).[0m +433.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357831 ms (missed cycles : 5).[0m +434.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372781 ms (missed cycles : 4).[0m +435.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218635 ms (missed cycles : 5).[0m +437.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133041 ms (missed cycles : 4).[0m +438.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.820686 ms (missed cycles : 5).[0m +439.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976501 ms (missed cycles : 2).[0m +440.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255489 ms (missed cycles : 3).[0m +441.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747765 ms (missed cycles : 3).[0m +442.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510019 ms (missed cycles : 3).[0m +443.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212381 ms (missed cycles : 4).[0m +444.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169763 ms (missed cycles : 4).[0m +445.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796327 ms (missed cycles : 2).[0m +446.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768420 ms (missed cycles : 2).[0m +447.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560050 ms (missed cycles : 4).[0m +448.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725082 ms (missed cycles : 2).[0m +449.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177861 ms (missed cycles : 2).[0m +450.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432251 ms (missed cycles : 3).[0m +451.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669294 ms (missed cycles : 2).[0m +453.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247507 ms (missed cycles : 2).[0m +454.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.137683 ms (missed cycles : 5).[0m +455.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771635 ms (missed cycles : 3).[0m +456.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303816 ms (missed cycles : 4).[0m +457.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160679 ms (missed cycles : 2).[0m +458.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094153 ms (missed cycles : 2).[0m +459.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.052072 ms (missed cycles : 6).[0m +460.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792091 ms (missed cycles : 3).[0m +461.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168065 ms (missed cycles : 4).[0m +462.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063313 ms (missed cycles : 4).[0m +463.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403626 ms (missed cycles : 4).[0m +464.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.239754 ms (missed cycles : 5).[0m +465.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.264852 ms (missed cycles : 5).[0m +466.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.765281 ms (missed cycles : 6).[0m +467.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659207 ms (missed cycles : 2).[0m +469.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.053278 ms (missed cycles : 6).[0m +470.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393194 ms (missed cycles : 5).[0m +471.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266188 ms (missed cycles : 2).[0m +472.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923096 ms (missed cycles : 3).[0m +473.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320125 ms (missed cycles : 3).[0m +474.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315093 ms (missed cycles : 5).[0m +475.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377262 ms (missed cycles : 2).[0m +476.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321933 ms (missed cycles : 4).[0m +477.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.007200 ms (missed cycles : 6).[0m +478.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238965 ms (missed cycles : 5).[0m +479.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343609 ms (missed cycles : 3).[0m +480.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.666484 ms (missed cycles : 6).[0m +482.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674732 ms (missed cycles : 2).[0m +483.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802095 ms (missed cycles : 3).[0m +484.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628941 ms (missed cycles : 6).[0m +485.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984049 ms (missed cycles : 2).[0m +486.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787937 ms (missed cycles : 5).[0m +487.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404181 ms (missed cycles : 3).[0m +488.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.244473 ms (missed cycles : 5).[0m +489.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541942 ms (missed cycles : 4).[0m +490.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349238 ms (missed cycles : 2).[0m +491.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.181651 ms (missed cycles : 5).[0m +493.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915988 ms (missed cycles : 2).[0m +494.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468999 ms (missed cycles : 3).[0m +495.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.208243 ms (missed cycles : 5).[0m +496.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.170706 ms (missed cycles : 5).[0m +497.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515428 ms (missed cycles : 2).[0m +498.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996718 ms (missed cycles : 5).[0m +499.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135878 ms (missed cycles : 4).[0m +500.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539775 ms (missed cycles : 2).[0m +501.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.154251 ms (missed cycles : 6).[0m +503.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689722 ms (missed cycles : 4).[0m +504.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027771 ms (missed cycles : 2).[0m +505.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581947 ms (missed cycles : 4).[0m +506.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721825 ms (missed cycles : 2).[0m +507.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524760 ms (missed cycles : 2).[0m +508.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767265 ms (missed cycles : 2).[0m +509.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493520 ms (missed cycles : 3).[0m +510.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.546101 ms (missed cycles : 4).[0m +511.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382972 ms (missed cycles : 2).[0m +512.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651439 ms (missed cycles : 2).[0m +513.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684392 ms (missed cycles : 3).[0m +515.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.675753 ms (missed cycles : 5).[0m +516.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914256 ms (missed cycles : 2).[0m +517.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866777 ms (missed cycles : 2).[0m +518.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203376 ms (missed cycles : 2).[0m +519.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495034 ms (missed cycles : 6).[0m +520.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.525451 ms (missed cycles : 5).[0m +521.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613370 ms (missed cycles : 2).[0m +522.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790035 ms (missed cycles : 2).[0m +523.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.567897 ms (missed cycles : 4).[0m +524.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704967 ms (missed cycles : 2).[0m +525.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578602 ms (missed cycles : 3).[0m +526.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931365 ms (missed cycles : 2).[0m +527.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918311 ms (missed cycles : 3).[0m +528.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377177 ms (missed cycles : 4).[0m +529.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234480 ms (missed cycles : 2).[0m +530.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230149 ms (missed cycles : 4).[0m +531.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259138 ms (missed cycles : 4).[0m +532.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.384953 ms (missed cycles : 4).[0m +534.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668701 ms (missed cycles : 2).[0m +535.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.993204 ms (missed cycles : 5).[0m +536.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.124138 ms (missed cycles : 5).[0m +537.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241290 ms (missed cycles : 2).[0m +538.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708026 ms (missed cycles : 2).[0m +539.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299666 ms (missed cycles : 4).[0m +540.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887330 ms (missed cycles : 2).[0m +541.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563501 ms (missed cycles : 5).[0m +542.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.864478 ms (missed cycles : 5).[0m +543.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721147 ms (missed cycles : 2).[0m +544.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760157 ms (missed cycles : 3).[0m +545.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468314 ms (missed cycles : 4).[0m +546.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286624 ms (missed cycles : 5).[0m +547.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955164 ms (missed cycles : 2).[0m +548.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438022 ms (missed cycles : 4).[0m +550.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534950 ms (missed cycles : 3).[0m +551.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149003 ms (missed cycles : 3).[0m +552.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535136 ms (missed cycles : 3).[0m +553.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260037 ms (missed cycles : 2).[0m +554.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051638 ms (missed cycles : 2).[0m +555.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373032 ms (missed cycles : 5).[0m +556.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338611 ms (missed cycles : 3).[0m +557.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950839 ms (missed cycles : 3).[0m +558.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829276 ms (missed cycles : 2).[0m +559.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408877 ms (missed cycles : 3).[0m +560.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335297 ms (missed cycles : 4).[0m +561.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101407 ms (missed cycles : 2).[0m +562.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939485 ms (missed cycles : 5).[0m +563.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.079981 ms (missed cycles : 5).[0m +564.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174932 ms (missed cycles : 4).[0m +565.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032589 ms (missed cycles : 2).[0m +567.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885696 ms (missed cycles : 2).[0m +568.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159794 ms (missed cycles : 3).[0m +569.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.818083 ms (missed cycles : 5).[0m +570.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.366049 ms (missed cycles : 4).[0m +571.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831823 ms (missed cycles : 3).[0m +572.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924366 ms (missed cycles : 4).[0m +573.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592219 ms (missed cycles : 4).[0m +574.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387699 ms (missed cycles : 3).[0m +575.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520914 ms (missed cycles : 5).[0m +576.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340933 ms (missed cycles : 2).[0m +577.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919500 ms (missed cycles : 3).[0m +578.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.138808 ms (missed cycles : 5).[0m +579.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566550 ms (missed cycles : 3).[0m +580.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307134 ms (missed cycles : 5).[0m +581.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638418 ms (missed cycles : 3).[0m +583.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732334 ms (missed cycles : 3).[0m +584.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384655 ms (missed cycles : 5).[0m +585.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.848007 ms (missed cycles : 5).[0m +586.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372993 ms (missed cycles : 4).[0m +587.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582288 ms (missed cycles : 3).[0m +588.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898266 ms (missed cycles : 2).[0m +589.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722455 ms (missed cycles : 2).[0m +590.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431464 ms (missed cycles : 4).[0m +591.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661735 ms (missed cycles : 5).[0m +592.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191739 ms (missed cycles : 2).[0m +594.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509138 ms (missed cycles : 2).[0m +595.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.619572 ms (missed cycles : 5).[0m +596.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863502 ms (missed cycles : 2).[0m +600.21sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-05-11-43-40-263617-47c4568d25d7-9910 ×2 +601.98sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +602.00sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +602.00sINFOcontroller_managerupdate rate is 600 Hz +602.00sINFOcontroller_managerOverruns handling is : enabled +602.00sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +602.00sWARNcontroller_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. +602.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.577878 ms (missed cycles : 7). +602.16sINFOros2_control_node-1process started with pid [9958] ×2 +602.17sINFOmove_group-9process started with pid [9995] ×2 +602.17sINFOparameter_manager_node-10process started with pid [9996] ×2 +602.17sINFOwaypoint_manager_node-11process started with pid [9997] ×2 +602.17sINFOmove_joint_resampler_node-12process started with pid [9998] ×2 +602.17sINFOmove_end_effector_resampler_node-13process started with pid [9999] ×2 +602.17sINFOobjective_server_node_main-14process started with pid [10000] ×2 +602.17sINFOcomponent_container_mt-15process started with pid [10001] ×2 +602.17sINFOcomponent_container_mt-16process started with pid [10002] ×2 +602.17sINFOexecute_objective_bridge-17process started with pid [10003] ×2 +602.17sINFOui_teleop_bridge-18process started with pid [10004] ×2 +602.17sINFOweb_bridge-19process started with pid [10005] ×2 +602.17sINFOtf2_web_republisher_node-20process started with pid [10069] ×2 +602.17sINFOvideo_server-21process started with pid [10070] ×2 +602.17sINFOweb_bridge_auth_proxy-22process started with pid [10071] ×2 +602.17sINFOweb_video_auth_proxy-23process started with pid [10072] ×2 +602.18sINFOros2-2process started with pid [9959] ×2 +602.18sINFOros2-3process started with pid [9960] ×2 +602.18sINFOros2-4process started with pid [9961] ×2 +602.18sINFOros2-5process started with pid [9962] ×2 +602.18sINFOros2-6process started with pid [9963] ×2 +602.18sINFOros2-7process started with pid [9964] ×2 +602.18sINFOros2-8process started with pid [9965] ×2 +602.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.577878 ms (missed cycles : 7).[0m ×2 +602.23sINFOcontroller_managerReceived robot description from topic. +602.23sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +602.26sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +602.57sINFOvideo_server2026/08/05 11:43:43 INF MediaMTX v1.19.3, linux, amd64 ×2 +602.57sINFOvideo_server2026/08/05 11:43:43 INF configuration loaded from /tmp/moveit-webrtc-lg4gz184/mediamtx.yml ×2 +602.58sINFOvideo_server2026/08/05 11:43:43 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +602.58sINFOvideo_server2026/08/05 11:43:43 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +603.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343678 ms (missed cycles : 4). +603.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343678 ms (missed cycles : 4).[0m ×2 +603.21sINFOmove_group[2026-08-05 11:43:43.997] [moveit_pro_license] [info] ×2 +603.31sINFOwaypoint_manager_node[2026-08-05 11:43:44.094] [moveit_pro_license] [info] ×2 +603.33sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +603.33sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +603.97sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... +604.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.756507 ms (missed cycles : 3). +604.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.756507 ms (missed cycles : 3).[0m ×2 +604.87sINFOobjective_server_node[2026-08-05 11:43:45.654] [moveit_pro_license] [info] ×2 +605.37sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +605.48sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +605.48sINFOcontroller_managerActivating component 'ur_mujoco_control'. +605.48sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +605.48sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +605.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676642 ms (missed cycles : 2). +605.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676642 ms (missed cycles : 2).[0m ×2 +605.65sINFOcomponent_container_mt[2026-08-05 11:43:46.434] [moveit_pro_license] [info] ×2 +605.73sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' +605.73sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' +605.93sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 +605.93sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 +605.95sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m +605.95sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' +605.95sINFOros2_control_node[2026-08-05 11:43:46.736] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 +605.95sINFOros2_control_node[2026-08-05 11:43:46.736] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 +606.00sINFOros2_control_node[2026-08-05 11:43:46.790] [info] First order lag filter time constant set to: 0.2 seconds ×2 +606.00sINFOros2_control_node[2026-08-05 11:43:46.790] [info] Controller state will be published at 50 Hz. ×2 +606.01sINFOros2_control_node[2026-08-05 11:43:46.797] [info] Registered `FollowJointTrajectory` action server. ×2 +606.25sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +606.25sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +606.25sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 +606.25sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 +606.31sINFOros2-6process has finished cleanly [pid 9963] ×2 +606.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +606.33sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +606.33sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. +606.33sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +606.33sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +606.34sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 +606.34sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +606.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 +606.34sINFOcontroller_managerSuccessfully switched controllers! ×14 +606.35sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m +606.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861131 ms (missed cycles : 4). +606.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861131 ms (missed cycles : 4).[0m ×2 +606.65sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +606.65sINFOcontroller_managerLoading controller 'joint_velocity_controller' +606.68sINFOros2-5process has finished cleanly [pid 9962] ×2 +606.72sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 +606.72sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 +606.77sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +606.77sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +606.81sINFOros2_control_node[2026-08-05 11:43:47.596] [info] Controller state will be published at 20 Hz. ×2 +606.81sINFOros2_control_node[2026-08-05 11:43:47.597] [info] JointVelocityController 'on_configure' succeeded. ×2 +607.12sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +607.12sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +607.12sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 +607.12sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 +607.16sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +607.17sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +607.17sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +607.17sINFOros2-8process has finished cleanly [pid 9965] ×2 +607.17sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +607.18sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +607.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] +607.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +607.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 +607.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] +607.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 +607.48sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +607.48sINFOcontroller_managerLoading controller 'velocity_force_controller' +607.50sINFOros2-4process has finished cleanly [pid 9961] ×2 +607.54sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 +607.54sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 +607.58sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +607.59sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +607.61sINFOros2_control_node[2026-08-05 11:43:48.400] [info] Controller state will be published at 10 Hz. ×2 +607.61sINFOros2_control_node[2026-08-05 11:43:48.401] [info] VelocityForceController 'on_configure' succeeded. ×2 +607.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235727 ms (missed cycles : 4). +607.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235727 ms (missed cycles : 4).[0m ×2 +607.94sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +607.94sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +607.94sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 +607.94sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 +607.97sINFOros2-7process has finished cleanly [pid 9964] ×2 +607.99sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +607.99sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +608.00sINFOforce_torque_sensor_broadcasterconfigure successful +608.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +608.00sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +608.31sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' +608.31sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' +608.31sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 +608.32sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 +608.32sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +608.34sINFOros2-2process has finished cleanly [pid 9959] ×2 +608.36sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m +608.36sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' +608.36sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. +608.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] +608.37sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m +608.57sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 +608.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785930229.36587191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +608.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785930229.37606335 seconds ×3 +608.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 +608.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 +608.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 +608.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 +608.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 +608.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 +608.69sINFOros2-3process has finished cleanly [pid 9960] ×2 +608.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.535517 ms (missed cycles : 6). +608.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.535517 ms (missed cycles : 6).[0m ×2 +609.18sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785930229.96617842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +609.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 +609.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). +609.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 +610.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 +610.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). +610.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 +610.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +610.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 +611.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +611.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 +611.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). +611.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 +612.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +612.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.8s | 47 warnings · 269 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×7 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×14 + 0.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785930229.36587191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785930229.37606335 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.12sINFOros2-3process has finished cleanly [pid 9960] ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.535517 ms (missed cycles : 6). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.535517 ms (missed cycles : 6).[0m ×2 + 0.60sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785930229.96617842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 1.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 5.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_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 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.26sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 5.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.28sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 5.28sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4).[0m ×2 + 6.93sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 47 warnings · 322 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 + 0.03sINFOros2-7process has finished cleanly [pid 9964] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.37sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.38sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 + 0.38sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 + 0.39sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.39sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.40sINFOros2-2process has finished cleanly [pid 9959] ×2 + 0.42sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.42sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.42sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.42sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.42sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.44sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.44sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[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 ×7 + 0.64sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.64sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×14 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785930229.36587191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785930229.37606335 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.75sINFOros2-3process has finished cleanly [pid 9960] ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.535517 ms (missed cycles : 6). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.535517 ms (missed cycles : 6).[0m ×2 + 1.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785930229.96617842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 3.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 5.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_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 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 5.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.91sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 5.91sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 + 6.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.1s | 38 warnings · 229 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 0.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 1.09sWARNobjective_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 ×5 + 1.09sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.09sINFOobjective_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 ×10 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4).[0m ×2 + 5.75sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2).[0m ×2 + 6.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 10 warnings · 112 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m + 3.22sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-05-11-43-40-263617-47c4568d25d7-9910 ×2 + 3.22sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.99sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 5.00sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 5.00sINFOcontroller_managerupdate rate is 600 Hz + 5.00sINFOcontroller_managerOverruns handling is : enabled + 5.00sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 5.00sWARNcontroller_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. + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.577878 ms (missed cycles : 7). + 5.17sINFOros2_control_node-1process started with pid [9958] ×2 + 5.17sINFOmove_group-9process started with pid [9995] ×2 + 5.17sINFOparameter_manager_node-10process started with pid [9996] ×2 + 5.17sINFOwaypoint_manager_node-11process started with pid [9997] ×2 + 5.17sINFOmove_joint_resampler_node-12process started with pid [9998] ×2 + 5.17sINFOmove_end_effector_resampler_node-13process started with pid [9999] ×2 + 5.17sINFOobjective_server_node_main-14process started with pid [10000] ×2 + 5.17sINFOcomponent_container_mt-15process started with pid [10001] ×2 + 5.17sINFOcomponent_container_mt-16process started with pid [10002] ×2 + 5.18sINFOexecute_objective_bridge-17process started with pid [10003] ×2 + 5.18sINFOui_teleop_bridge-18process started with pid [10004] ×2 + 5.18sINFOweb_bridge-19process started with pid [10005] ×2 + 5.18sINFOtf2_web_republisher_node-20process started with pid [10069] ×2 + 5.18sINFOvideo_server-21process started with pid [10070] ×2 + 5.18sINFOweb_bridge_auth_proxy-22process started with pid [10071] ×2 + 5.18sINFOweb_video_auth_proxy-23process started with pid [10072] ×2 + 5.18sINFOros2-2process started with pid [9959] ×2 + 5.18sINFOros2-3process started with pid [9960] ×2 + 5.18sINFOros2-4process started with pid [9961] ×2 + 5.18sINFOros2-5process started with pid [9962] ×2 + 5.19sINFOros2-6process started with pid [9963] ×2 + 5.19sINFOros2-7process started with pid [9964] ×2 + 5.19sINFOros2-8process started with pid [9965] ×2 + 5.21sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 5.21sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 5.21sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 5.21sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 5.21sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 5.21sWARNros2_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 + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.577878 ms (missed cycles : 7).[0m ×2 + 5.24sINFOcontroller_managerReceived robot description from topic. + 5.24sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.25sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.25sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.27sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.28sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.39sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.58sINFOvideo_server2026/08/05 11:43:43 INF MediaMTX v1.19.3, linux, amd64 ×2 + 5.58sINFOvideo_server2026/08/05 11:43:43 INF configuration loaded from /tmp/moveit-webrtc-lg4gz184/mediamtx.yml ×2 + 5.58sINFOvideo_server2026/08/05 11:43:43 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.58sINFOvideo_server2026/08/05 11:43:43 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343678 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343678 ms (missed cycles : 4).[0m ×2 + 6.22sINFOmove_group[2026-08-05 11:43:43.997] [moveit_pro_license] [info] ×2 + 6.22sINFOmove_group************************************************* ×4 + 6.22sINFOmove_group* MoveIt Pro License ×2 + 6.22sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.31sINFOwaypoint_manager_node[2026-08-05 11:43:44.094] [moveit_pro_license] [info] ×2 + 6.31sINFOwaypoint_manager_node************************************************* ×4 + 6.31sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 6.31sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.34sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.34sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.34sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 47 warnings · 406 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 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 + 0.04sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.05sINFOros2-8process has finished cleanly [pid 9965] ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.28sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.36sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.36sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.38sINFOros2-4process has finished cleanly [pid 9961] ×2 + 0.42sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 + 0.42sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 + 0.47sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.47sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.47sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.47sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.49sINFOros2_control_node[2026-08-05 11:43:48.400] [info] Controller state will be published at 10 Hz. ×2 + 0.49sINFOros2_control_node[2026-08-05 11:43:48.401] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235727 ms (missed cycles : 4). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235727 ms (missed cycles : 4).[0m ×2 + 0.82sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.82sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.82sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 + 0.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 + 0.85sINFOros2-7process has finished cleanly [pid 9964] ×2 + 0.87sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.87sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.88sINFOforce_torque_sensor_broadcasterconfigure successful + 0.88sINFOros2_control_nodeconfigure successful[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.89sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.89sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.19sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.19sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.20sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.20sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.20sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 + 1.20sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 + 1.21sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.21sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.22sINFOros2-2process has finished cleanly [pid 9959] ×2 + 1.24sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.24sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.24sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.24sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.24sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.25sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.26sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.26sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.45sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 1.46sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 1.46sINFOobjective_server_nodeError registering 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 + 1.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785930229.36587191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785930229.37606335 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.57sINFOros2-3process has finished cleanly [pid 9960] ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.535517 ms (missed cycles : 6). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.535517 ms (missed cycles : 6).[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785930229.96617842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 6.59sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.61sINFOobjective_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 + 6.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.73sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 38 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 0.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 1.09sWARNobjective_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 ×5 + 1.09sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.09sINFOobjective_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 ×10 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4).[0m ×2 + 5.75sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 47 warnings · 406 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 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 + 0.04sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.05sINFOros2-8process has finished cleanly [pid 9965] ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.28sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.36sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.36sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.38sINFOros2-4process has finished cleanly [pid 9961] ×2 + 0.42sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 + 0.42sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 + 0.47sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.47sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.47sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.47sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.49sINFOros2_control_node[2026-08-05 11:43:48.400] [info] Controller state will be published at 10 Hz. ×2 + 0.49sINFOros2_control_node[2026-08-05 11:43:48.401] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235727 ms (missed cycles : 4). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235727 ms (missed cycles : 4).[0m ×2 + 0.82sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.82sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.82sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 + 0.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 + 0.85sINFOros2-7process has finished cleanly [pid 9964] ×2 + 0.87sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.87sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.88sINFOforce_torque_sensor_broadcasterconfigure successful + 0.88sINFOros2_control_nodeconfigure successful[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.89sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.89sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.19sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.19sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.20sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.20sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.20sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 + 1.20sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 + 1.21sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.21sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.22sINFOros2-2process has finished cleanly [pid 9959] ×2 + 1.24sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.24sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.24sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.24sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.24sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.25sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.26sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.26sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.45sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 1.46sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 1.46sINFOobjective_server_nodeError registering 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 + 1.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785930229.36587191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785930229.37606335 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.57sINFOros2-3process has finished cleanly [pid 9960] ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.535517 ms (missed cycles : 6). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.535517 ms (missed cycles : 6).[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785930229.96617842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 6.59sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.61sINFOobjective_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 + 6.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.73sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 47 warnings · 406 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 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 + 0.04sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.05sINFOros2-8process has finished cleanly [pid 9965] ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.28sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.36sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.36sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.38sINFOros2-4process has finished cleanly [pid 9961] ×2 + 0.42sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 + 0.42sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 + 0.47sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.47sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.47sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.47sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.49sINFOros2_control_node[2026-08-05 11:43:48.400] [info] Controller state will be published at 10 Hz. ×2 + 0.49sINFOros2_control_node[2026-08-05 11:43:48.401] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235727 ms (missed cycles : 4). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235727 ms (missed cycles : 4).[0m ×2 + 0.82sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.82sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.82sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 + 0.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 + 0.85sINFOros2-7process has finished cleanly [pid 9964] ×2 + 0.87sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.87sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.88sINFOforce_torque_sensor_broadcasterconfigure successful + 0.88sINFOros2_control_nodeconfigure successful[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.89sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.89sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.19sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.19sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.20sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.20sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.20sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 + 1.20sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 + 1.21sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.21sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.22sINFOros2-2process has finished cleanly [pid 9959] ×2 + 1.24sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.24sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.24sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.24sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.24sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.25sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.26sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.26sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.45sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering 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 + 1.46sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 1.46sINFOobjective_server_nodeError registering 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 + 1.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785930229.36587191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785930229.37606335 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.57sINFOros2-3process has finished cleanly [pid 9960] ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.535517 ms (missed cycles : 6). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.535517 ms (missed cycles : 6).[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785930229.96617842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 6.59sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.61sINFOobjective_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 + 6.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.73sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 44 warnings · 322 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 + 0.03sINFOros2-7process has finished cleanly [pid 9964] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.37sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.38sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 + 0.38sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_qowf795v --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dd28jam2 --params-file /tmp/launch_params_g7agiy49 [0m ×2 + 0.39sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.39sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.40sINFOros2-2process has finished cleanly [pid 9959] ×2 + 0.42sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.42sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.42sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.42sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.42sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.44sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.44sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[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 ×7 + 0.64sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.64sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×14 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785930229.36587191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785930229.37606335 seconds ×3 + 0.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.75sINFOros2-3process has finished cleanly [pid 9960] ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.535517 ms (missed cycles : 6). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.535517 ms (missed cycles : 6).[0m ×2 + 1.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785930229.96617842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 3.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 5.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_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 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 5.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.91sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 5.91sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 44 warnings · 264 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×7 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×14 + 0.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785930229.36587191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785930229.37606335 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.12sINFOros2-3process has finished cleanly [pid 9960] ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.535517 ms (missed cycles : 6). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.535517 ms (missed cycles : 6).[0m ×2 + 0.60sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785930229.96617842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 1.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 5.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_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 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.26sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 5.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.28sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 5.28sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 38 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 0.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 1.09sWARNobjective_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 ×5 + 1.09sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.09sINFOobjective_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 ×10 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4).[0m ×2 + 5.75sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 38 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 0.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 1.09sWARNobjective_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 ×5 + 1.09sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.09sINFOobjective_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 ×10 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4).[0m ×2 + 5.75sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 38 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 0.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 1.09sWARNobjective_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 ×5 + 1.09sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.09sINFOobjective_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 ×10 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4).[0m ×2 + 5.75sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 38 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 0.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 1.09sWARNobjective_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 ×5 + 1.09sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.09sINFOobjective_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 ×10 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4).[0m ×2 + 5.75sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 38 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 0.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 1.09sWARNobjective_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 ×5 + 1.09sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.09sINFOobjective_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 ×10 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4).[0m ×2 + 5.75sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 38 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 0.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 1.09sWARNobjective_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 ×5 + 1.09sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.09sINFOobjective_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 ×10 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4).[0m ×2 + 5.75sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 38 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 0.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 1.09sWARNobjective_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 ×5 + 1.09sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.09sINFOobjective_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 ×10 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4).[0m ×2 + 5.75sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 38 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 0.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 1.09sWARNobjective_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 ×5 + 1.09sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.09sINFOobjective_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 ×10 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4).[0m ×2 + 5.75sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 38 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 0.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 1.09sWARNobjective_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 ×5 + 1.09sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.09sINFOobjective_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 ×10 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4).[0m ×2 + 5.75sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 38 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 0.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 1.09sWARNobjective_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 ×5 + 1.09sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.09sINFOobjective_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 ×10 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4).[0m ×2 + 5.75sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 40 warnings · 237 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 0.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 1.09sWARNobjective_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 ×5 + 1.09sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.09sINFOobjective_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 ×10 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4).[0m ×2 + 5.75sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2).[0m ×2 + 6.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.60sINFOros2_control_node[2026-08-05 11:43:57.146] [info] Received new action goal ×2 + 6.60sINFOros2_control_node[2026-08-05 11:43:57.146] [info] Accepted new action goal ×2 + 6.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 38 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 0.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 1.09sWARNobjective_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 ×5 + 1.09sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.09sINFOobjective_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 ×10 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4).[0m ×2 + 5.75sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 38 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 0.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 1.09sWARNobjective_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 ×5 + 1.09sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.09sINFOobjective_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 ×10 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4).[0m ×2 + 5.75sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 38 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 0.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 1.09sWARNobjective_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 ×5 + 1.09sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.09sINFOobjective_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 ×10 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4).[0m ×2 + 5.75sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 38 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762123 ms (missed cycles : 2).[0m ×2 + 0.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785930231.02631903 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417324 ms (missed cycles : 2).[0m ×2 + 1.09sWARNobjective_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 ×5 + 1.09sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.09sINFOobjective_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 ×10 + 1.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785930231.64165211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785930231.70182443 seconds ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785930232.36099410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785930232.38110614 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684458 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785930232.98798680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785930233.14106369 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419888 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785930233.86183310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785930233.90196419 seconds ×3 + 3.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785930234.50170422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.1759e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-05 11:43:54.638] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692013 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.455016 ms (missed cycles : 4).[0m ×2 + 5.75sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357414 ms (missed cycles : 2).[0m ×2 | ||||