116
Total objective tests
34
Objectives passed
0
Objectives failed
82
Objectives skipped
8.0s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives30 pass53 skip
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.3s | 165 warnings · 297 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 01:56:01.939937520 [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;93m2026-08-07 01:56:01.939980281 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412445 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412445 ms (missed cycles : 3).[0m ×2 + 0.27sINFOobjective_server_node[2026-08-07 01:56:02.207] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.94sINFOobjective_server_node[0;93m2026-08-07 01:56:02.882671414 [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 + 0.94sINFOobjective_server_node[0;93m2026-08-07 01:56:02.882711894 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.11sINFOobjective_server_node[2026-08-07 01:56:03.050] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.18sINFOobjective_server_node[0;93m2026-08-07 01:56:03.121841422 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.19sINFOobjective_server_node[0;93m2026-08-07 01:56:03.124956556 [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 + 1.19sINFOobjective_server_node[0;93m2026-08-07 01:56:03.124983145 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.20sINFOobjective_server_node[2026-08-07 01:56:03.142] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519046 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519046 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_node[0;93m2026-08-07 01:56:03.520932517 [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 + 1.60sINFOobjective_server_node[0;93m2026-08-07 01:56:03.543542326 [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 + 1.60sINFOobjective_server_node[0;93m2026-08-07 01:56:03.543577320 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876425 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876425 ms (missed cycles : 2).[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735633 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735633 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786067765.48245907 seconds ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786067766.22306299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 4.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.36sINFOobjective_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 + 4.37sINFOobjective_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 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418173 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418173 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (6.24e-07 s). ×4 + 4.65sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.69sINFOros2_control_node[2026-08-07 01:56:06.633] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-07 01:56:06.633] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176679 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176679 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.441334 ms (missed cycles : 9). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.441334 ms (missed cycles : 9).[0m ×2 + 7.54sINFOobjective_server_nodeFound path in 0 iterations (7.35e-07 s). ×2 + 7.56sINFOros2_control_node[2026-08-07 01:56:09.498] [info] Received new action goal ×2 + 7.56sINFOros2_control_node[2026-08-07 01:56:09.498] [info] Accepted new action goal ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487432 ms (missed cycles : 2). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487432 ms (missed cycles : 2).[0m ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893336 ms (missed cycles : 2). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893336 ms (missed cycles : 2).[0m ×2 + 9.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 10.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881925 ms (missed cycles : 2). + 10.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881925 ms (missed cycles : 2).[0m ×2 + 10.72sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×12 + 10.72sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.73sINFOros2_control_node[2026-08-07 01:56:12.667] [info] Received new action goal ×2 + 10.73sINFOros2_control_node[2026-08-07 01:56:12.667] [info] Accepted new action goal ×2 + 11.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.608669 ms (missed cycles : 5). + 11.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.608669 ms (missed cycles : 5).[0m ×2 + 12.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369698 ms (missed cycles : 6). + 12.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369698 ms (missed cycles : 6).[0m ×2 + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.287459 ms (missed cycles : 6). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.287459 ms (missed cycles : 6).[0m ×2 + 13.71sINFOobjective_server_nodeFound path in 0 iterations (5.04e-07 s). ×2 + 13.71sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.76sINFOros2_control_node[2026-08-07 01:56:15.701] [info] Received new action goal ×2 + 13.76sINFOros2_control_node[2026-08-07 01:56:15.701] [info] Accepted new action goal ×2 + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932178 ms (missed cycles : 2). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932178 ms (missed cycles : 2).[0m ×2 + 15.53sWARNros2_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 + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500253 ms (missed cycles : 2). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500253 ms (missed cycles : 2).[0m ×2 + 16.72sINFOobjective_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 + 16.73sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.73sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.73sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.73sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896208 ms (missed cycles : 2). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896208 ms (missed cycles : 2).[0m ×2 + 18.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253046 ms (missed cycles : 3). + 18.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253046 ms (missed cycles : 3).[0m ×2 + 19.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575375 ms (missed cycles : 2). + 19.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575375 ms (missed cycles : 2).[0m ×2 + 20.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640336 ms (missed cycles : 2). + 20.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640336 ms (missed cycles : 2).[0m ×2 + 20.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 21.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801143 ms (missed cycles : 2). + 21.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801143 ms (missed cycles : 2).[0m ×2 + 22.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603659 ms (missed cycles : 2). + 22.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603659 ms (missed cycles : 2).[0m ×2 + 23.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080367 ms (missed cycles : 2). + 23.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080367 ms (missed cycles : 2).[0m ×2 + 23.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.52sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.52sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.52sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.52sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.45sINFOros2_control_node[2026-08-07 01:56:26.386] [info] Received new action goal ×2 + 24.45sINFOros2_control_node[2026-08-07 01:56:26.386] [info] Accepted new action goal ×2 + 24.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927599 ms (missed cycles : 3). + 24.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927599 ms (missed cycles : 3).[0m ×2 + 25.61sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.62sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900083 ms (missed cycles : 2). + 25.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900083 ms (missed cycles : 2).[0m ×2 + 25.78sWARNros2_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 + 25.90sINFOobjective_server_nodeFound path in 0 iterations (5.14e-07 s). ×2 + 25.90sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.95sINFOros2_control_node[2026-08-07 01:56:27.890] [info] Received new action goal ×2 + 25.95sINFOros2_control_node[2026-08-07 01:56:27.890] [info] Accepted new action goal ×2 + 26.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.362999 ms (missed cycles : 4). + 26.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.362999 ms (missed cycles : 4).[0m ×2 + 27.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724158 ms (missed cycles : 3). + 27.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724158 ms (missed cycles : 3).[0m ×2 + 28.10sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.11sINFOros2_control_node[2026-08-07 01:56:30.048] [info] Received new action goal ×2 + 28.11sINFOros2_control_node[2026-08-07 01:56:30.048] [info] Accepted new action goal ×2 + 28.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.583686 ms (missed cycles : 6). + 28.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.583686 ms (missed cycles : 6).[0m ×2 + 29.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690180 ms (missed cycles : 3). + 29.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690180 ms (missed cycles : 3).[0m ×2 + 30.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×6 + 30.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937071 ms (missed cycles : 2). + 30.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937071 ms (missed cycles : 2).[0m ×2 + 31.15sINFOros2_control_node[2026-08-07 01:56:33.087] [info] Received new action goal ×2 + 31.15sINFOros2_control_node[2026-08-07 01:56:33.088] [info] Accepted new action goal ×2 + 32.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.616683 ms (missed cycles : 5). + 32.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.616683 ms (missed cycles : 5).[0m ×2 + 33.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036094 ms (missed cycles : 2). + 33.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036094 ms (missed cycles : 2).[0m ×2 + 33.74sINFOobjective_server_nodeFound path in 0 iterations (4.57e-07 s). ×2 + 33.74sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.81sINFOros2_control_node[2026-08-07 01:56:35.753] [info] Received new action goal ×2 + 33.81sINFOros2_control_node[2026-08-07 01:56:35.753] [info] Accepted new action goal ×2 + 34.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879375 ms (missed cycles : 2). + 34.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879375 ms (missed cycles : 2).[0m ×2 + 35.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.214408 ms (missed cycles : 4). + 35.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.214408 ms (missed cycles : 4).[0m ×2 + 36.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.905964 ms (missed cycles : 5). + 36.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.905964 ms (missed cycles : 5).[0m ×2 + 37.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 37.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190208 ms (missed cycles : 2). + 37.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190208 ms (missed cycles : 2).[0m ×2 + 38.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123416 ms (missed cycles : 3). + 38.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123416 ms (missed cycles : 3).[0m ×2 + 39.82sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 39.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089266 ms (missed cycles : 2). + 39.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089266 ms (missed cycles : 2).[0m ×2 + 41.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913752 ms (missed cycles : 2). + 41.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913752 ms (missed cycles : 2).[0m ×2 + 42.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.177751 ms (missed cycles : 4). + 42.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.177751 ms (missed cycles : 4).[0m ×2 + 43.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570940 ms (missed cycles : 2). + 43.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570940 ms (missed cycles : 2).[0m ×2 + 44.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396741 ms (missed cycles : 4). + 44.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396741 ms (missed cycles : 4).[0m ×2 + 44.50sINFOros2_control_node[2026-08-07 01:56:46.437] [info] Received new action goal ×2 + 44.50sINFOros2_control_node[2026-08-07 01:56:46.437] [info] Accepted new action goal ×2 + 45.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449339 ms (missed cycles : 2). + 45.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449339 ms (missed cycles : 2).[0m ×2 + 45.65sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786067807.59328866 seconds ×3 + 46.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321838 ms (missed cycles : 3). + 46.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321838 ms (missed cycles : 3).[0m ×2 + 46.61sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786067808.55454135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.530115 ms (missed cycles : 6). + 47.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.530115 ms (missed cycles : 6).[0m ×2 + 47.81sINFOobjective_server_nodeFound path in 0 iterations (6.2e-07 s). ×2 + 47.82sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.83sINFOros2_control_node[2026-08-07 01:56:49.773] [info] Received new action goal ×2 + 47.83sINFOros2_control_node[2026-08-07 01:56:49.773] [info] Accepted new action goal ×2 + 48.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.932801 ms (missed cycles : 5). + 48.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.932801 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 31.8s | 3 errors · 129 warnings · 255 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958162 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958162 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.904417 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.904417 ms (missed cycles : 6).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934855 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934855 ms (missed cycles : 2).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252340 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252340 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_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 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.62sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 3.62sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1786067836.34994721 seconds ×3 + 3.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787285 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787285 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786067836.99615598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 5 iterations (0.0057526 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.55sINFOros2_control_node[2026-08-07 01:57:17.272] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-07 01:57:17.272] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615655 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615655 ms (missed cycles : 3).[0m ×2 + 5.95sWARNros2_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 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079799 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079799 ms (missed cycles : 2).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044290 ms (missed cycles : 4). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044290 ms (missed cycles : 4).[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372535 ms (missed cycles : 3). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372535 ms (missed cycles : 3).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.704139 ms (missed cycles : 5). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.704139 ms (missed cycles : 5).[0m ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.089657 ms (missed cycles : 5). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.089657 ms (missed cycles : 5).[0m ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.731130 ms (missed cycles : 5). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.731130 ms (missed cycles : 5).[0m ×2 + 11.67sWARNros2_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 + 11.80sINFOobjective_server_node[2026-08-07 01:57:24.529] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 12.53sINFOobjective_server_node[0;m[0;93m2026-08-07 01:57:25.258806359 [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 + 12.53sINFOobjective_server_node[0;93m2026-08-07 01:57:25.258834678 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813746 ms (missed cycles : 2). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813746 ms (missed cycles : 2).[0m ×2 + 12.72sINFOobjective_server_node[2026-08-07 01:57:25.443] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.25sINFOobjective_server_node[0;93m2026-08-07 01:57:25.978880671 [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 + 13.25sINFOobjective_server_node[0;93m2026-08-07 01:57:25.978908481 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.37sINFOobjective_server_node[2026-08-07 01:57:26.097] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.42sINFOobjective_server_node[0;93m2026-08-07 01:57:26.147668173 [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 + 13.43sINFOobjective_server_node[0;93m2026-08-07 01:57:26.152093480 [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 + 13.43sINFOobjective_server_node[0;93m2026-08-07 01:57:26.152127143 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.45sINFOobjective_server_node[2026-08-07 01:57:26.177] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.300556 ms (missed cycles : 6). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.300556 ms (missed cycles : 6).[0m ×2 + 13.83sINFOobjective_server_node[0;93m2026-08-07 01:57:26.558632099 [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 + 13.86sINFOobjective_server_node[0;93m2026-08-07 01:57:26.585373702 [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 + 13.86sINFOobjective_server_node[0;93m2026-08-07 01:57:26.585406986 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850334 ms (missed cycles : 2). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850334 ms (missed cycles : 2).[0m ×2 + 15.49sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038803 ms (missed cycles : 2). + 15.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038803 ms (missed cycles : 2).[0m ×2 + 16.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828995 ms (missed cycles : 2). + 16.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828995 ms (missed cycles : 2).[0m ×2 + 17.73sWARNros2_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 + 17.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353461 ms (missed cycles : 4). + 17.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353461 ms (missed cycles : 4).[0m ×2 + 18.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.103642 ms (missed cycles : 8). + 18.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.103642 ms (missed cycles : 8).[0m ×2 + 19.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953818 ms (missed cycles : 2). + 20.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953818 ms (missed cycles : 2).[0m ×2 + 20.22sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 20.57sINFOobjective_server_nodeFound path in 4 iterations (0.00574245 s). ×2 + 20.65sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 20.69sINFOobjective_server_nodeFound path in 12 iterations (0.00551731 s). ×2 + 20.77sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 20.80sINFOobjective_server_nodeFound path in 1 iterations (0.00269558 s). ×2 + 20.86sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] ×2 + 20.88sINFOobjective_server_nodeFound path in 0 iterations (5.14e-07 s). ×2 + 20.92sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 20.95sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 20.98sINFOobjective_server_nodePath shortcutter: [X______________________________________X] ×2 + 21.01sINFOobjective_server_nodeFound path in 12 iterations (0.0057417 s). ×2 + 21.07sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] ×2 + 21.10sINFOobjective_server_nodeFound path in 8 iterations (0.00518153 s). ×2 + 21.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467524 ms (missed cycles : 3). + 21.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467524 ms (missed cycles : 3).[0m ×2 + 21.17sINFOobjective_server_nodePath shortcutter: [X___________________________________X__________________________X] ×2 + 21.19sINFOobjective_server_nodeFound path in 1 iterations (0.00458655 s). ×2 + 21.25sINFOobjective_server_nodePath shortcutter: [X______________________________X_____________________X] ×2 + 21.28sINFOobjective_server_nodeFound path in 0 iterations (6.32e-07 s). ×2 + 21.33sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 21.35sINFOobjective_server_nodeFound path in 0 iterations (5.21e-07 s). ×2 + 21.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 21.43sINFOobjective_server_nodeFound path in 4 iterations (0.00513195 s). ×2 + 21.52sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 21.55sINFOobjective_server_nodeFound path in 4 iterations (0.00335197 s). ×2 + 21.65sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X______________________X] ×2 + 21.69sINFOobjective_server_nodeFound path in 1 iterations (0.00697834 s). ×2 + 21.77sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 21.80sINFOobjective_server_nodeFound path in 1 iterations (0.0030736 s). ×2 + 21.89sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] ×2 + 21.92sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 21.96sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 21.98sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 22.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588824 ms (missed cycles : 2). + 22.15sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________X] ×2 + 22.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588824 ms (missed cycles : 2).[0m ×2 + 22.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 22.38sINFOros2_control_node[2026-08-07 01:57:35.099] [info] Received new action goal ×2 + 22.38sINFOros2_control_node[2026-08-07 01:57:35.099] [info] Accepted new action goal ×2 + 22.99sWARNros2_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 + 23.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698723 ms (missed cycles : 4). + 23.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698723 ms (missed cycles : 4).[0m ×2 + 24.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947188 ms (missed cycles : 5). + 24.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947188 ms (missed cycles : 5).[0m ×2 + 25.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839909 ms (missed cycles : 3). + 25.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839909 ms (missed cycles : 3).[0m ×2 + 26.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489908 ms (missed cycles : 3). + 26.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489908 ms (missed cycles : 3).[0m ×2 + 27.37sINFOros2_control_node[2026-08-07 01:57:40.092] [info] Received new action goal ×2 + 27.37sINFOros2_control_node[2026-08-07 01:57:40.092] [info] Accepted new action goal ×2 + 27.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.189327 ms (missed cycles : 6). + 27.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.189327 ms (missed cycles : 6).[0m ×2 + 28.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.455110 ms (missed cycles : 7). + 28.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.455110 ms (missed cycles : 7).[0m ×2 + 28.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 28.95sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 28.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 28.96sINFOros2_control_node[2026-08-07 01:57:41.681] [info] Received new action goal ×2 + 28.96sINFOros2_control_node[2026-08-07 01:57:41.682] [info] Accepted new action goal ×2 + 29.04sINFOros2_control_nodeMuJoCo sim: 0.43% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 29.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872980 ms (missed cycles : 2). + 29.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872980 ms (missed cycles : 2).[0m ×2 + 30.19sWARNobjective_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 + 30.19sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 30.22sINFOros2_control_node[2026-08-07 01:57:42.947] [info] Received new action goal ×2 + 30.22sINFOros2_control_node[2026-08-07 01:57:42.947] [info] Accepted new action goal ×2 + 30.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.075502 ms (missed cycles : 4). + 30.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.075502 ms (missed cycles : 4).[0m ×2 + 31.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787107 ms (missed cycles : 3). + 31.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787107 ms (missed cycles : 3).[0m ×2 + 32.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692735 ms (missed cycles : 3). + 32.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692735 ms (missed cycles : 3).[0m ×2 + 34.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.040866 ms (missed cycles : 4). + 34.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.040866 ms (missed cycles : 4).[0m ×2 + 34.68sWARNros2_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 + 35.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739184 ms (missed cycles : 5). + 35.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739184 ms (missed cycles : 5).[0m ×2 + 35.44sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786067868.16827846 seconds ×3 + 35.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 35.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 35.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 35.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 35.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 35.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 36.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786067868.91956806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697546 ms (missed cycles : 3). + 36.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697546 ms (missed cycles : 3).[0m ×2 + 36.45sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 36.45sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 36.47sINFOros2_control_node[2026-08-07 01:57:49.194] [info] Received new action goal ×2 + 36.47sINFOros2_control_node[2026-08-07 01:57:49.194] [info] Accepted new action goal ×2 + 37.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.734421 ms (missed cycles : 6). + 37.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.734421 ms (missed cycles : 6).[0m ×2 + 38.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867657 ms (missed cycles : 5). + 38.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867657 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 18.4s | 3 errors · 80 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313128 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313128 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559996 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559996 ms (missed cycles : 3).[0m ×2 + 1.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.63sINFOobjective_server_nodeFound path in 0 iterations (7.03e-07 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.65sINFOros2_control_node[2026-08-07 01:54:49.352] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-08-07 01:54:49.352] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669900 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669900 ms (missed cycles : 2).[0m ×2 + 2.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.21sINFOobjective_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 + 2.23sINFOros2_control_node[2026-08-07 01:54:49.928] [info] Got request to cancel active goal. ×2 + 2.23sINFOros2_control_node[2026-08-07 01:54:49.928] [info] Canceling active goal... ×2 + 2.24sERRORobjective_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: 1786067689.94391251 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786067690.59901237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786067690.71913743 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.840383 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.840383 ms (missed cycles : 6).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786067691.33965659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). ×4 + 3.82sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.83sINFOros2_control_node[2026-08-07 01:54:51.533] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-08-07 01:54:51.533] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808878 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808878 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628284 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628284 ms (missed cycles : 5).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684674 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684674 ms (missed cycles : 3).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785940 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785940 ms (missed cycles : 2).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832620 ms (missed cycles : 2). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832620 ms (missed cycles : 2).[0m ×2 + 8.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.235469 ms (missed cycles : 7). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.235469 ms (missed cycles : 7).[0m ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.035376 ms (missed cycles : 8). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.035376 ms (missed cycles : 8).[0m ×2 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680995 ms (missed cycles : 2). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680995 ms (missed cycles : 2).[0m ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626996 ms (missed cycles : 2). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626996 ms (missed cycles : 2).[0m ×2 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213727 ms (missed cycles : 3). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213727 ms (missed cycles : 3).[0m ×2 + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.206776 ms (missed cycles : 7). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.206776 ms (missed cycles : 7).[0m ×2 + 15.07sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 15.07sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 15.08sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 15.37sINFOobjective_server_nodeFound path in 0 iterations (5.45e-07 s). ×2 + 15.37sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 15.38sINFOobjective_server_nodeFound path in 0 iterations (5.57e-07 s). ×2 + 15.40sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 15.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 15.48sINFOobjective_server_nodeFound path in 1 iterations (0.00302572 s). ×2 + 15.57sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 15.67sINFOros2_control_node[2026-08-07 01:55:03.370] [info] Received new action goal ×2 + 15.67sINFOros2_control_node[2026-08-07 01:55:03.370] [info] Accepted new action goal ×2 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946694 ms (missed cycles : 2). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946694 ms (missed cycles : 2).[0m ×2 + 17.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051335 ms (missed cycles : 2). + 17.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051335 ms (missed cycles : 2).[0m ×2 + 18.14sINFOros2_control_node[2026-08-07 01:55:05.843] [info] Received new action goal ×2 + 18.14sINFOros2_control_node[2026-08-07 01:55:05.843] [info] Accepted new action goal ×2 + 18.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524794 ms (missed cycles : 3). + 18.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524794 ms (missed cycles : 3).[0m ×2 + 19.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389650 ms (missed cycles : 2). + 19.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389650 ms (missed cycles : 2).[0m ×2 + 20.04sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 20.04sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 20.05sINFOros2_control_node[2026-08-07 01:55:07.754] [info] Received new action goal ×2 + 20.05sINFOros2_control_node[2026-08-07 01:55:07.754] [info] Accepted new action goal ×2 + 20.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552961 ms (missed cycles : 3). + 20.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552961 ms (missed cycles : 3).[0m ×2 + 21.44sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786067709.14095068 seconds ×3 + 21.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.528503 ms (missed cycles : 7). + 21.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.528503 ms (missed cycles : 7).[0m ×2 + 21.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 22.07sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786067709.77536488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.15sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786067709.85550332 seconds ×3 + 22.81sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786067710.50985050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719797 ms (missed cycles : 2). + 22.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719797 ms (missed cycles : 2).[0m ×2 + 22.92sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 22.93sINFOros2_control_node[2026-08-07 01:55:10.634] [info] Received new action goal ×2 + 22.93sINFOros2_control_node[2026-08-07 01:55:10.634] [info] Accepted new action goal ×2 + 24.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454467 ms (missed cycles : 3). + 24.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454467 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.4s | 3 errors · 60 warnings · 181 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043777 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043777 ms (missed cycles : 3).[0m ×2 + 0.83sWARNros2_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 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 0.99sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (8.3e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801236 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801236 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 1.10sINFOobjective_server_nodeFound path in 1 iterations (0.00327354 s). ×2 + 1.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 1.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.28sINFOros2_control_node[2026-08-07 01:55:41.009] [info] Received new action goal ×2 + 1.28sINFOros2_control_node[2026-08-07 01:55:41.009] [info] Accepted new action goal ×2 + 1.71sINFOros2_control_node[2026-08-07 01:55:41.442] [info] Received new action goal ×2 + 1.71sINFOros2_control_node[2026-08-07 01:55:41.442] [info] Accepted new action goal ×2 + 2.03sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.336712 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.336712 ms (missed cycles : 4).[0m ×2 + 3.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313444 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313444 ms (missed cycles : 3).[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 + 3.19sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.19sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.19sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.19sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sERRORobjective_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: 1786067742.93703341 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.02sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786067743.74715686 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217154 ms (missed cycles : 5). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217154 ms (missed cycles : 5).[0m ×2 + 4.20sINFOros2_control_node[2026-08-07 01:55:43.931] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-08-07 01:55:43.931] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213728 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213728 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597249 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597249 ms (missed cycles : 4).[0m ×2 + 7.02sINFOros2_control_node[2026-08-07 01:55:46.746] [info] Received new action goal ×2 + 7.02sINFOros2_control_node[2026-08-07 01:55:46.746] [info] Accepted new action goal ×2 + 7.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375951 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375951 ms (missed cycles : 2).[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699412 ms (missed cycles : 3). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699412 ms (missed cycles : 3).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429886 ms (missed cycles : 4). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429886 ms (missed cycles : 4).[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.117678 ms (missed cycles : 4). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.117678 ms (missed cycles : 4).[0m ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.800965 ms (missed cycles : 5). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.800965 ms (missed cycles : 5).[0m ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321479 ms (missed cycles : 3). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321479 ms (missed cycles : 3).[0m ×2 + 13.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743950 ms (missed cycles : 2). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743950 ms (missed cycles : 2).[0m ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.610193 ms (missed cycles : 5). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.610193 ms (missed cycles : 5).[0m ×2 + 15.59sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786067755.31748676 seconds ×3 + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482705 ms (missed cycles : 3). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482705 ms (missed cycles : 3).[0m ×2 + 16.25sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786067755.98309684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 16.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 16.30sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 16.30sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 16.31sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786067756.04325652 seconds ×3 + 16.92sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786067756.65229607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.03sINFOobjective_server_nodeFound path in 0 iterations (5.43e-07 s). ×2 + 17.03sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 17.04sINFOros2_control_node[2026-08-07 01:55:56.766] [info] Received new action goal ×2 + 17.04sINFOros2_control_node[2026-08-07 01:55:56.766] [info] Accepted new action goal ×2 + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533382 ms (missed cycles : 2). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533382 ms (missed cycles : 2).[0m ×2 + 18.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340113 ms (missed cycles : 2). + 18.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340113 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 9 errors · 65 warnings · 197 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.177751 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.177751 ms (missed cycles : 4).[0m ×2 + 0.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×4 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570940 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570940 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_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 + 1.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.57sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.57sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.57sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.57sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396741 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396741 ms (missed cycles : 4).[0m ×2 + 2.44sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 2.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.45sINFOros2_control_node[2026-08-07 01:56:46.437] [info] Received new action goal ×2 + 2.45sINFOros2_control_node[2026-08-07 01:56:46.437] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449339 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449339 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786067807.59328866 seconds ×3 + 3.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321838 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321838 ms (missed cycles : 3).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786067808.55454135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.530115 ms (missed cycles : 6). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.530115 ms (missed cycles : 6).[0m ×2 + 5.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 5.76sINFOobjective_server_nodeFound path in 0 iterations (6.2e-07 s). ×2 + 5.77sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.78sINFOros2_control_node[2026-08-07 01:56:49.773] [info] Received new action goal ×2 + 5.78sINFOros2_control_node[2026-08-07 01:56:49.773] [info] Accepted new action goal ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.932801 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.932801 ms (missed cycles : 5).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786614 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786614 ms (missed cycles : 2).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427394 ms (missed cycles : 3). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427394 ms (missed cycles : 3).[0m ×2 + 9.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 9.49sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 9.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.49sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 9.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.49sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 9.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.49sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922977 ms (missed cycles : 2). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922977 ms (missed cycles : 2).[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.188769 ms (missed cycles : 5). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.188769 ms (missed cycles : 5).[0m ×2 + 11.58sWARNros2_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 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407176 ms (missed cycles : 2). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407176 ms (missed cycles : 2).[0m ×2 + 11.88sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 11.89sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.91sINFOros2_control_node[2026-08-07 01:56:55.899] [info] Received new action goal ×2 + 11.91sINFOros2_control_node[2026-08-07 01:56:55.899] [info] Accepted new action goal ×2 + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557591 ms (missed cycles : 2). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557591 ms (missed cycles : 2).[0m ×2 + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710385 ms (missed cycles : 2). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710385 ms (missed cycles : 2).[0m ×2 + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717615 ms (missed cycles : 2). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717615 ms (missed cycles : 2).[0m ×2 + 15.51sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786067819.50470018 seconds ×3 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519046 ms (missed cycles : 3). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519046 ms (missed cycles : 3).[0m ×2 + 16.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786067820.11533093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.29sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 16.29sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.30sINFOros2_control_node[2026-08-07 01:57:00.289] [info] Received new action goal ×2 + 16.30sINFOros2_control_node[2026-08-07 01:57:00.289] [info] Accepted new action goal ×2 + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146250 ms (missed cycles : 3). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146250 ms (missed cycles : 3).[0m ×2 + 17.57sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 17.57sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.59sWARNros2_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 + 17.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 18.01sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×9 + 18.02sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×6 + 18.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774893 ms (missed cycles : 2). + 18.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774893 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.1s | 6 errors · 60 warnings · 245 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449796 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449796 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056050 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056050 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405400 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405400 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.23sERRORobjective_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: 1786067911.32207918 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×7 + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×14 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×14 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×7 + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×14 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×7 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×14 + 2.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.49 s); wrist_camera (1.49 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786067911.96033907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786067912.05049729 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700072 ms (missed cycles : 6). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700072 ms (missed cycles : 6).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786067912.67748499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786067912.70034075 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272612 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272612 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786067913.31753469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.36sINFOros2_control_node[2026-08-07 01:58:33.442] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-08-07 01:58:33.442] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089318 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089318 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028531 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028531 ms (missed cycles : 2).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844207 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844207 ms (missed cycles : 2).[0m ×2 + 7.69sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.70sINFOros2_control_node[2026-08-07 01:58:36.782] [info] Received new action goal ×2 + 7.70sINFOros2_control_node[2026-08-07 01:58:36.782] [info] Accepted new action goal ×2 + 7.70sINFOros2_control_node[2026-08-07 01:58:36.782] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395940 ms (missed cycles : 2). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395940 ms (missed cycles : 2).[0m ×2 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067118 ms (missed cycles : 2). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067118 ms (missed cycles : 2).[0m ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859974 ms (missed cycles : 2). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859974 ms (missed cycles : 2).[0m ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565694 ms (missed cycles : 2). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565694 ms (missed cycles : 2).[0m ×2 + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.628059 ms (missed cycles : 4). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.628059 ms (missed cycles : 4).[0m ×2 + 12.68sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.47sWARNros2_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 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192655 ms (missed cycles : 2). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192655 ms (missed cycles : 2).[0m ×2 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564649 ms (missed cycles : 2). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564649 ms (missed cycles : 2).[0m ×2 + 14.73sINFOros2_control_node[2026-08-07 01:58:43.817] [info] Got request to cancel active goal. ×2 + 14.73sINFOros2_control_node[2026-08-07 01:58:43.817] [info] Canceling active goal... ×2 + 14.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786067923.82302737 seconds ×3 + 15.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786067924.47378612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.751736 ms (missed cycles : 6). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.751736 ms (missed cycles : 6).[0m ×2 + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548488 ms (missed cycles : 6). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548488 ms (missed cycles : 6).[0m ×2 + 16.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786067926.02392125 seconds ×3 + 17.54sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786067926.63099456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.54sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 17.54sINFOobjective_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 + 17.55sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 17.55sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786067926.63391447 seconds ×3 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 60 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491527 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491527 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126012 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126012 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.48sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 1.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.48sINFOros2_control_node[2026-08-07 01:55:18.671] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-08-07 01:55:18.671] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157134 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157134 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417822 ms (missed cycles : 6). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417822 ms (missed cycles : 6).[0m ×2 + 3.63sINFOobjective_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 + 3.63sINFOros2_control_node[2026-08-07 01:55:20.820] [info] Got request to cancel active goal. ×2 + 3.63sINFOros2_control_node[2026-08-07 01:55:20.820] [info] Canceling active goal... ×2 + 3.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786067720.83254075 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043355 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043355 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786067721.47791147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (5.72e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.49sINFOros2_control_node[2026-08-07 01:55:21.682] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-07 01:55:21.682] [info] Accepted new action goal ×2 + 4.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429694 ms (missed cycles : 6). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429694 ms (missed cycles : 6).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815405 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815405 ms (missed cycles : 2).[0m ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.968536 ms (missed cycles : 5). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.968536 ms (missed cycles : 5).[0m ×2 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476391 ms (missed cycles : 2). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476391 ms (missed cycles : 2).[0m ×2 + 8.88sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.89sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.16sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 9.17sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 9.17sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 9.18sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 9.19sINFOobjective_server_nodeFound path in 0 iterations (6.99e-07 s). ×2 + 9.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 9.25sINFOobjective_server_nodeFound path in 0 iterations (8.17e-07 s). ×2 + 9.29sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 9.31sINFOobjective_server_nodeFound path in 1 iterations (0.00322796 s). ×2 + 9.42sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 9.45sINFOobjective_server_nodeFound path in 1 iterations (0.0046876 s). ×2 + 9.54sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 9.56sINFOobjective_server_nodeFound path in 0 iterations (7.72e-07 s). ×2 + 9.67sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 9.69sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 9.79sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381393 ms (missed cycles : 3). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381393 ms (missed cycles : 3).[0m ×2 + 9.93sINFOros2_control_node[2026-08-07 01:55:27.115] [info] Received new action goal ×2 + 9.93sINFOros2_control_node[2026-08-07 01:55:27.115] [info] Accepted new action goal ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058356 ms (missed cycles : 4). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058356 ms (missed cycles : 4).[0m ×2 + 11.26sWARNros2_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 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049328 ms (missed cycles : 4). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049328 ms (missed cycles : 4).[0m ×2 + 12.35sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 12.65sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 12.65sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 12.66sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 12.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786067729.94023252 seconds ×3 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.426734 ms (missed cycles : 7). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.426734 ms (missed cycles : 7).[0m ×2 + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245163 ms (missed cycles : 3). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245163 ms (missed cycles : 3).[0m ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211843 ms (missed cycles : 3). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211843 ms (missed cycles : 3).[0m ×2 + 15.35sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786067732.54319024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.56sINFOobjective_server_nodeFound path in 0 iterations (5.62e-07 s). ×2 + 15.58sINFOros2_control_node[2026-08-07 01:55:32.767] [info] Received new action goal ×2 + 15.58sINFOros2_control_node[2026-08-07 01:55:32.767] [info] Accepted new action goal ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704331 ms (missed cycles : 2). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704331 ms (missed cycles : 2).[0m ×2 + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709183 ms (missed cycles : 2). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709183 ms (missed cycles : 2).[0m ×2 + 17.32sWARNros2_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 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 60 warnings · 170 info |
+ 0.00sWARNros2_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 ×4 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049328 ms (missed cycles : 4). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049328 ms (missed cycles : 4).[0m ×2 + 1.09sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 1.39sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 1.39sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 1.40sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 1.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786067729.94023252 seconds ×3 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.426734 ms (missed cycles : 7). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.426734 ms (missed cycles : 7).[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245163 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245163 ms (missed cycles : 3).[0m ×2 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211843 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211843 ms (missed cycles : 3).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786067732.54319024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (5.62e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.32sINFOros2_control_node[2026-08-07 01:55:32.767] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-08-07 01:55:32.767] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704331 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704331 ms (missed cycles : 2).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709183 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709183 ms (missed cycles : 2).[0m ×2 + 6.06sWARNros2_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 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316593 ms (missed cycles : 2). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316593 ms (missed cycles : 2).[0m ×2 + 7.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048946 ms (missed cycles : 4). + 7.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048946 ms (missed cycles : 4).[0m ×2 + 8.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.54sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.82sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×4 + 8.82sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.83sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 8.83sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.84sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 8.89sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.90sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 8.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.97sINFOobjective_server_nodeFound path in 1 iterations (0.00274632 s). ×2 + 9.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.114522 ms (missed cycles : 7). + 9.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.114522 ms (missed cycles : 7).[0m ×2 + 9.07sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 9.10sINFOobjective_server_nodeFound path in 1 iterations (0.00448311 s). ×2 + 9.19sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 9.32sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 9.35sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 9.45sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.57sINFOros2_control_node[2026-08-07 01:55:38.020] [info] Received new action goal ×2 + 9.57sINFOros2_control_node[2026-08-07 01:55:38.020] [info] Accepted new action goal ×2 + 10.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913469 ms (missed cycles : 2). + 10.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913469 ms (missed cycles : 2).[0m ×2 + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043777 ms (missed cycles : 3). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043777 ms (missed cycles : 3).[0m ×2 + 12.27sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 12.27sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 12.28sINFOobjective_server_nodeFound path in 0 iterations (8.3e-07 s). ×2 + 12.28sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 12.29sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 12.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801236 ms (missed cycles : 3). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801236 ms (missed cycles : 3).[0m ×2 + 12.35sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 12.38sINFOobjective_server_nodeFound path in 1 iterations (0.00327354 s). ×2 + 12.49sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 12.56sINFOros2_control_node[2026-08-07 01:55:41.009] [info] Received new action goal ×2 + 12.56sINFOros2_control_node[2026-08-07 01:55:41.009] [info] Accepted new action goal ×2 + 12.99sINFOros2_control_node[2026-08-07 01:55:41.442] [info] Received new action goal ×2 + 12.99sINFOros2_control_node[2026-08-07 01:55:41.442] [info] Accepted new action goal ×2 + 13.31sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.336712 ms (missed cycles : 4). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.336712 ms (missed cycles : 4).[0m ×2 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313444 ms (missed cycles : 3). + 14.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313444 ms (missed cycles : 3).[0m ×2 + 14.47sINFOobjective_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 + 14.47sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.47sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.48sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.48sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786067742.93703341 seconds ×3 + 15.30sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786067743.74715686 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.47sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217154 ms (missed cycles : 5). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217154 ms (missed cycles : 5).[0m ×2 + 15.48sINFOros2_control_node[2026-08-07 01:55:43.931] [info] Received new action goal ×2 + 15.48sINFOros2_control_node[2026-08-07 01:55:43.931] [info] Accepted new action goal ×2 + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213728 ms (missed cycles : 3). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213728 ms (missed cycles : 3).[0m ×2 + 17.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597249 ms (missed cycles : 4). + 17.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597249 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 60 warnings · 176 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011090 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011090 ms (missed cycles : 5).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.180159 ms (missed cycles : 4). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.180159 ms (missed cycles : 4).[0m ×2 + 1.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651677 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651677 ms (missed cycles : 2).[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788974 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788974 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786067900.33638787 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 4.04sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786067900.94161057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.11e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.22sINFOros2_control_node[2026-08-07 01:58:21.126] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-07 01:58:21.126] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.130395 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.130395 ms (missed cycles : 4).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840416 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840416 ms (missed cycles : 2).[0m ×2 + 6.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.13sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665445 ms (missed cycles : 4). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665445 ms (missed cycles : 4).[0m ×2 + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.977113 ms (missed cycles : 5). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.977113 ms (missed cycles : 5).[0m ×2 + 8.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.091834 ms (missed cycles : 4). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.091834 ms (missed cycles : 4).[0m ×2 + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588182 ms (missed cycles : 3). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588182 ms (missed cycles : 3).[0m ×2 + 11.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786599 ms (missed cycles : 2). + 11.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786599 ms (missed cycles : 2).[0m ×2 + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449796 ms (missed cycles : 4). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449796 ms (missed cycles : 4).[0m ×2 + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056050 ms (missed cycles : 5). + 13.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056050 ms (missed cycles : 5).[0m ×2 + 14.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405400 ms (missed cycles : 3). + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405400 ms (missed cycles : 3).[0m ×2 + 14.41sINFOobjective_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 + 14.42sERRORobjective_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: 1786067911.32207918 seconds ×3 + 14.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.49 s); wrist_camera (1.49 s). The render path has stopped producing new frames for them.[0m ×2 + 15.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786067911.96033907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.13sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.13sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.15sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786067912.05049729 seconds ×3 + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700072 ms (missed cycles : 6). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700072 ms (missed cycles : 6).[0m ×2 + 15.77sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786067912.67748499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.79sINFOobjective_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 + 15.80sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786067912.70034075 seconds ×3 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272612 ms (missed cycles : 3). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272612 ms (missed cycles : 3).[0m ×2 + 16.41sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786067913.31753469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.53sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 16.53sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.54sINFOros2_control_node[2026-08-07 01:58:33.442] [info] Received new action goal ×2 + 16.54sINFOros2_control_node[2026-08-07 01:58:33.442] [info] Accepted new action goal ×2 + 17.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089318 ms (missed cycles : 2). + 17.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089318 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.0s | 3 errors · 60 warnings · 165 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524794 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524794 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389650 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389650 ms (missed cycles : 2).[0m ×2 + 1.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.55sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.57sINFOros2_control_node[2026-08-07 01:55:07.754] [info] Received new action goal ×2 + 1.57sINFOros2_control_node[2026-08-07 01:55:07.754] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552961 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552961 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786067709.14095068 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.528503 ms (missed cycles : 7). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.528503 ms (missed cycles : 7).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786067709.77536488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786067709.85550332 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786067710.50985050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719797 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719797 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.45sINFOros2_control_node[2026-08-07 01:55:10.634] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-07 01:55:10.634] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454467 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454467 ms (missed cycles : 3).[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672209 ms (missed cycles : 2). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672209 ms (missed cycles : 2).[0m ×2 + 7.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612273 ms (missed cycles : 3). + 7.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612273 ms (missed cycles : 3).[0m ×2 + 7.79sINFOobjective_server_nodeFound path in 0 iterations (5.49e-07 s). ×2 + 7.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.79sINFOros2_control_node[2026-08-07 01:55:13.984] [info] Received new action goal ×2 + 7.79sINFOros2_control_node[2026-08-07 01:55:13.984] [info] Accepted new action goal ×2 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435177 ms (missed cycles : 3). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435177 ms (missed cycles : 3).[0m ×2 + 9.42sWARNros2_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 + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015812 ms (missed cycles : 2). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015812 ms (missed cycles : 2).[0m ×2 + 10.12sINFOobjective_server_nodeFound path in 0 iterations (7.01e-07 s). ×2 + 10.13sINFOros2_control_node[2026-08-07 01:55:16.321] [info] Received new action goal ×2 + 10.13sINFOros2_control_node[2026-08-07 01:55:16.321] [info] Accepted new action goal ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491527 ms (missed cycles : 3). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491527 ms (missed cycles : 3).[0m ×2 + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126012 ms (missed cycles : 2). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126012 ms (missed cycles : 2).[0m ×2 + 12.48sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 12.48sINFOros2_control_node[2026-08-07 01:55:18.671] [info] Received new action goal ×2 + 12.48sINFOros2_control_node[2026-08-07 01:55:18.671] [info] Accepted new action goal ×2 + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157134 ms (missed cycles : 2). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157134 ms (missed cycles : 2).[0m ×2 + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417822 ms (missed cycles : 6). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417822 ms (missed cycles : 6).[0m ×2 + 14.63sINFOobjective_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 + 14.63sINFOros2_control_node[2026-08-07 01:55:20.820] [info] Got request to cancel active goal. ×2 + 14.63sINFOros2_control_node[2026-08-07 01:55:20.820] [info] Canceling active goal... ×2 + 14.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786067720.83254075 seconds ×3 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043355 ms (missed cycles : 2). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043355 ms (missed cycles : 2).[0m ×2 + 15.29sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786067721.47791147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.48sINFOobjective_server_nodeFound path in 0 iterations (5.72e-07 s). ×2 + 15.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.49sINFOros2_control_node[2026-08-07 01:55:21.682] [info] Received new action goal ×2 + 15.49sINFOros2_control_node[2026-08-07 01:55:21.682] [info] Accepted new action goal ×2 + 15.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429694 ms (missed cycles : 6). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429694 ms (missed cycles : 6).[0m ×2 + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815405 ms (missed cycles : 2). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815405 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.9s | 3 errors · 59 warnings · 332 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 0.13sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.25sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 1.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.78sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6).[0m ×2 + 5.78sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.705648 ms (missed cycles : 6). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.705648 ms (missed cycles : 6).[0m ×2 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (5.27e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.30sINFOros2_control_node[2026-08-07 01:54:42.271] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-08-07 01:54:42.271] [info] Accepted new action goal ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397326 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397326 ms (missed cycles : 3).[0m ×2 + 7.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073905 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073905 ms (missed cycles : 2).[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801037 ms (missed cycles : 2). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801037 ms (missed cycles : 2).[0m ×2 + 10.03sINFOobjective_server_nodeFound path in 0 iterations (6.77e-07 s). ×2 + 10.05sINFOros2_control_node[2026-08-07 01:54:46.022] [info] Received new action goal ×2 + 10.05sINFOros2_control_node[2026-08-07 01:54:46.022] [info] Accepted new action goal ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989352 ms (missed cycles : 3). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989352 ms (missed cycles : 3).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313128 ms (missed cycles : 3). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313128 ms (missed cycles : 3).[0m ×2 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559996 ms (missed cycles : 3). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559996 ms (missed cycles : 3).[0m ×2 + 13.36sINFOobjective_server_nodeFound path in 0 iterations (7.03e-07 s). ×2 + 13.37sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.38sINFOros2_control_node[2026-08-07 01:54:49.352] [info] Received new action goal ×2 + 13.38sINFOros2_control_node[2026-08-07 01:54:49.352] [info] Accepted new action goal ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669900 ms (missed cycles : 2). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669900 ms (missed cycles : 2).[0m ×2 + 13.94sINFOobjective_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 + 13.96sINFOros2_control_node[2026-08-07 01:54:49.928] [info] Got request to cancel active goal. ×2 + 13.96sINFOros2_control_node[2026-08-07 01:54:49.928] [info] Canceling active goal... ×2 + 13.97sERRORobjective_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: 1786067689.94391251 seconds ×3 + 13.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 13.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786067690.59901237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786067690.71913743 seconds ×3 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.840383 ms (missed cycles : 6). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.840383 ms (missed cycles : 6).[0m ×2 + 15.37sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786067691.33965659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.55sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). ×2 + 15.55sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.56sINFOros2_control_node[2026-08-07 01:54:51.533] [info] Received new action goal ×2 + 15.56sINFOros2_control_node[2026-08-07 01:54:51.533] [info] Accepted new action goal ×2 + 15.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808878 ms (missed cycles : 2). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808878 ms (missed cycles : 2).[0m ×2 + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628284 ms (missed cycles : 5). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628284 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.8s | 6 errors · 63 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821080 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821080 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_node[2026-08-07 01:57:55.959] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-08-07 01:57:55.959] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837647 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837647 ms (missed cycles : 2).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682993 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682993 ms (missed cycles : 2).[0m ×2 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.65sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.67sINFOros2_control_node[2026-08-07 01:57:57.983] [info] Received new action goal ×2 + 2.67sINFOros2_control_node[2026-08-07 01:57:57.983] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280827 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280827 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.61sINFOros2_control_node[2026-08-07 01:57:58.929] [info] Got request to cancel active goal. ×2 + 3.61sINFOros2_control_node[2026-08-07 01:57:58.929] [info] Canceling active goal... ×2 + 3.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786067878.94419670 seconds ×3 + 3.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.29sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786067879.60466671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496870 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496870 ms (missed cycles : 4).[0m ×2 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.44sWARNros2_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 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sINFOros2_control_node[2026-08-07 01:57:59.789] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-07 01:57:59.789] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900428 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900428 ms (missed cycles : 2).[0m ×2 + 6.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.746070 ms (missed cycles : 6). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.746070 ms (missed cycles : 6).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748297 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748297 ms (missed cycles : 2).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589914 ms (missed cycles : 3). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589914 ms (missed cycles : 3).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856312 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856312 ms (missed cycles : 2).[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664944 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664944 ms (missed cycles : 2).[0m ×2 + 11.20sWARNros2_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 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047573 ms (missed cycles : 2). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047573 ms (missed cycles : 2).[0m ×2 + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.934040 ms (missed cycles : 5). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.934040 ms (missed cycles : 5).[0m ×2 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244216 ms (missed cycles : 3). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244216 ms (missed cycles : 3).[0m ×2 + 14.51sERRORobjective_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: 1786067889.82575226 seconds ×3 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744580 ms (missed cycles : 2). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744580 ms (missed cycles : 2).[0m ×2 + 15.10sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786067890.42262888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.39sINFOobjective_server_nodeFound path in 0 iterations (7.18e-07 s). ×2 + 15.40sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.41sINFOros2_control_node[2026-08-07 01:58:10.729] [info] Received new action goal ×2 + 15.41sINFOros2_control_node[2026-08-07 01:58:10.729] [info] Accepted new action goal ×2 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759768 ms (missed cycles : 6). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759768 ms (missed cycles : 6).[0m ×2 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.712799 ms (missed cycles : 5). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.712799 ms (missed cycles : 5).[0m ×2 + 17.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 10.8s | 24 errors · 63 warnings · 257 info |
+ 0.00sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×24 + 0.01sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774893 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774893 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786067823.21170950 seconds ×3 + 1.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×3 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×11 + 1.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×6 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×3 + 1.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×6 + 1.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×3 + 1.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×6 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626682 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626682 ms (missed cycles : 3).[0m ×2 + 1.85sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786067823.84547400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_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 + 1.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×3 + 1.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×6 + 1.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×3 + 1.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×6 + 1.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 1.99sINFOobjective_server_nodeFound path in 0 iterations (4.57e-07 s). ×2 + 1.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 1.99sINFOros2_control_node[2026-08-07 01:57:03.989] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-08-07 01:57:03.989] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.192801 ms (missed cycles : 5). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.192801 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_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 + 3.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851014 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851014 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786067825.57654762 seconds ×3 + 4.21sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1786067826.21405005 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (5.94e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.39sINFOros2_control_node[2026-08-07 01:57:06.388] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-07 01:57:06.388] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276027 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276027 ms (missed cycles : 2).[0m ×2 + 4.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×4 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515662 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515662 ms (missed cycles : 3).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387920 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387920 ms (missed cycles : 3).[0m ×2 + 6.91sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 6.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 6.93sINFOros2_control_node[2026-08-07 01:57:08.927] [info] Received new action goal ×2 + 6.93sINFOros2_control_node[2026-08-07 01:57:08.927] [info] Accepted new action goal ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778085 ms (missed cycles : 2). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778085 ms (missed cycles : 2).[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540899 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540899 ms (missed cycles : 2).[0m ×2 + 8.80sINFOros2_control_node[2026-08-07 01:57:10.801] [info] Received new action goal ×2 + 8.80sINFOros2_control_node[2026-08-07 01:57:10.801] [info] Accepted new action goal ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645809 ms (missed cycles : 4). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645809 ms (missed cycles : 4).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958162 ms (missed cycles : 2). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958162 ms (missed cycles : 2).[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.904417 ms (missed cycles : 6). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.904417 ms (missed cycles : 6).[0m ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934855 ms (missed cycles : 2). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934855 ms (missed cycles : 2).[0m ×2 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252340 ms (missed cycles : 2). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252340 ms (missed cycles : 2).[0m ×2 + 14.35sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1786067836.34994721 seconds ×3 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787285 ms (missed cycles : 2). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787285 ms (missed cycles : 2).[0m ×2 + 15.00sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786067836.99615598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 15.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 15.19sINFOobjective_server_nodeFound path in 5 iterations (0.0057526 s). ×2 + 15.26sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 15.27sINFOros2_control_node[2026-08-07 01:57:17.272] [info] Received new action goal ×2 + 15.27sINFOros2_control_node[2026-08-07 01:57:17.272] [info] Accepted new action goal ×2 + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615655 ms (missed cycles : 3). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615655 ms (missed cycles : 3).[0m ×2 + 16.67sWARNros2_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 + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079799 ms (missed cycles : 2). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079799 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.7s | 3 errors · 63 warnings · 143 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787107 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787107 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692735 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692735 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.040866 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.040866 ms (missed cycles : 4).[0m ×2 + 2.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 2.73sWARNros2_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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739184 ms (missed cycles : 5). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739184 ms (missed cycles : 5).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786067868.16827846 seconds ×3 + 3.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786067868.91956806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697546 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697546 ms (missed cycles : 3).[0m ×2 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-08-07 01:57:49.194] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-08-07 01:57:49.194] [info] Accepted new action goal ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.734421 ms (missed cycles : 6). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.734421 ms (missed cycles : 6).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867657 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867657 ms (missed cycles : 5).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087717 ms (missed cycles : 2). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087717 ms (missed cycles : 2).[0m ×2 + 8.27sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.27sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.27sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.55sINFOobjective_server_nodeFound path in 0 iterations (9.04e-07 s). ×2 + 8.55sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.56sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 8.56sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.58sINFOobjective_server_nodeFound path in 0 iterations (7.4e-07 s). ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533095 ms (missed cycles : 2). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533095 ms (missed cycles : 2).[0m ×2 + 8.62sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.64sINFOobjective_server_nodeFound path in 1 iterations (0.00329725 s). ×2 + 8.74sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 8.79sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.81sINFOros2_control_node[2026-08-07 01:57:53.487] [info] Received new action goal ×2 + 8.81sINFOros2_control_node[2026-08-07 01:57:53.487] [info] Accepted new action goal ×2 + 8.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142570 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142570 ms (missed cycles : 2).[0m ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821080 ms (missed cycles : 3). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821080 ms (missed cycles : 3).[0m ×2 + 11.28sINFOros2_control_node[2026-08-07 01:57:55.959] [info] Received new action goal ×2 + 11.28sINFOros2_control_node[2026-08-07 01:57:55.959] [info] Accepted new action goal ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837647 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837647 ms (missed cycles : 2).[0m ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682993 ms (missed cycles : 2). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682993 ms (missed cycles : 2).[0m ×2 + 13.29sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 13.29sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.30sINFOros2_control_node[2026-08-07 01:57:57.983] [info] Received new action goal ×2 + 13.31sINFOros2_control_node[2026-08-07 01:57:57.983] [info] Accepted new action goal ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280827 ms (missed cycles : 2). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280827 ms (missed cycles : 2).[0m ×2 + 14.25sINFOobjective_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 + 14.25sINFOros2_control_node[2026-08-07 01:57:58.929] [info] Got request to cancel active goal. ×2 + 14.25sINFOros2_control_node[2026-08-07 01:57:58.929] [info] Canceling active goal... ×2 + 14.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786067878.94419670 seconds ×3 + 14.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786067879.60466671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496870 ms (missed cycles : 4). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496870 ms (missed cycles : 4).[0m ×2 + 15.08sWARNros2_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 + 15.10sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 15.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.11sINFOros2_control_node[2026-08-07 01:57:59.789] [info] Received new action goal ×2 + 15.11sINFOros2_control_node[2026-08-07 01:57:59.789] [info] Accepted new action goal ×2 + 15.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900428 ms (missed cycles : 2). + 15.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900428 ms (missed cycles : 2).[0m ×2 + 17.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.746070 ms (missed cycles : 6). + 17.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.746070 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 57 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664944 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664944 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_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 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047573 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047573 ms (missed cycles : 2).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.934040 ms (missed cycles : 5). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.934040 ms (missed cycles : 5).[0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244216 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244216 ms (missed cycles : 3).[0m ×2 + 3.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sERRORobjective_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: 1786067889.82575226 seconds ×3 + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744580 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744580 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786067890.42262888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (7.18e-07 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.83sINFOros2_control_node[2026-08-07 01:58:10.729] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-07 01:58:10.729] [info] Accepted new action goal ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759768 ms (missed cycles : 6). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759768 ms (missed cycles : 6).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.712799 ms (missed cycles : 5). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.712799 ms (missed cycles : 5).[0m ×2 + 6.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413319 ms (missed cycles : 2). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413319 ms (missed cycles : 2).[0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.619461 ms (missed cycles : 5). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.619461 ms (missed cycles : 5).[0m ×2 + 8.85sINFOros2_control_node[2026-08-07 01:58:14.751] [info] Received new action goal ×2 + 8.85sINFOros2_control_node[2026-08-07 01:58:14.751] [info] Accepted new action goal ×2 + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643640 ms (missed cycles : 5). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643640 ms (missed cycles : 5).[0m ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011090 ms (missed cycles : 5). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011090 ms (missed cycles : 5).[0m ×2 + 12.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.180159 ms (missed cycles : 4). + 12.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.180159 ms (missed cycles : 4).[0m ×2 + 12.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 13.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651677 ms (missed cycles : 2). + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651677 ms (missed cycles : 2).[0m ×2 + 14.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788974 ms (missed cycles : 3). + 14.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788974 ms (missed cycles : 3).[0m ×2 + 14.43sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786067900.33638787 seconds ×3 + 15.04sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786067900.94161057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.21sINFOobjective_server_nodeFound path in 0 iterations (5.11e-07 s). ×2 + 15.21sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.23sINFOros2_control_node[2026-08-07 01:58:21.126] [info] Received new action goal ×2 + 15.23sINFOros2_control_node[2026-08-07 01:58:21.126] [info] Accepted new action goal ×2 + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.130395 ms (missed cycles : 4). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.130395 ms (missed cycles : 4).[0m ×2 + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840416 ms (missed cycles : 2). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840416 ms (missed cycles : 2).[0m ×2 + 17.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 17.13sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 9.2s | 57 errors · 42 warnings · 329 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564649 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564649 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_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 + 0.04sINFOros2_control_node[2026-08-07 01:58:43.817] [info] Got request to cancel active goal. ×2 + 0.04sINFOros2_control_node[2026-08-07 01:58:43.817] [info] Canceling active goal... ×2 + 0.04sERRORobjective_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: 1786067923.82302737 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786067924.47378612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.751736 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.751736 ms (missed cycles : 6).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548488 ms (missed cycles : 6). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548488 ms (missed cycles : 6).[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786067926.02392125 seconds ×3 + 2.85sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786067926.63099456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.85sINFOobjective_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 + 2.85sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786067926.63391447 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874554 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874554 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786067927.23174238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786067927.23224664 seconds ×3 + 3.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 4.06sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786067927.84621263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504724 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504724 ms (missed cycles : 3).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786067928.52635074 seconds ×3 + 4.78sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740065 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740065 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605107 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605107 ms (missed cycles : 2).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.683410 ms (missed cycles : 6). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.683410 ms (missed cycles : 6).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109415 ms (missed cycles : 5). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109415 ms (missed cycles : 5).[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.499058 ms (missed cycles : 6). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.499058 ms (missed cycles : 6).[0m ×2 + 10.56sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.58sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORweb_video_auth_proxy-23process has died [pid 9097, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.59sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.60sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.61sERRORweb_bridge_auth_proxy-22process has died [pid 9092, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.61sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.61sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.64sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.66sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.67sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.68sINFOvideo_server-21process has finished cleanly [pid 9091] ×2 + 10.68sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.69sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.70sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.72sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.72sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047512 ms (missed cycles : 2). + 10.73sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.75sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.76sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.77sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.79sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.81sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.81sINFOcontroller_managerShutdown request received.... + 10.81sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.81sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.81sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.81sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.81sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.81sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.81sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.81sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.81sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.81sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.81sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.81sINFOvideo_server2026/08/07 01:58:54 INF shutting down gracefully ×2 + 10.81sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.81sINFOcontroller_managerShutting down the controller manager. + 10.81sINFOvideo_server2026/08/07 01:58:54 INF [WebRTC] closing ×2 + 10.81sINFOvideo_server2026/08/07 01:58:54 INF [RTSP] closing ×2 + 10.81sINFOvideo_server2026/08/07 01:58:54 INF waiting for running hooks ×2 + 10.81sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.81sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.81sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047512 ms (missed cycles : 2).[0m ×2 + 10.82sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.82sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.82sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.82sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.82sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.82sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.82sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.82sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.82sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.82sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.82sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.82sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.82sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.87sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9088] ×2 + 10.87sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 10.93sINFOcomponent_container_mt-16process has finished cleanly [pid 9021] ×2 + 10.94sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.94sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.94sINFOui_teleop_bridge-18process has finished cleanly [pid 9023] ×2 + 10.94sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.96sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9018] ×2 + 10.98sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9017] ×2 + 10.98sINFOexecute_objective_bridge-17process has finished cleanly [pid 9022] ×2 + 11.00sINFOwaypoint_manager_node-11process has finished cleanly [pid 9016] ×2 + 11.00sINFOparameter_manager_node-10process has finished cleanly [pid 9015] ×2 + 11.04sINFOcomponent_container_mt-15process has finished cleanly [pid 9020] ×2 + 11.07sINFOobjective_server_node[0;m[2026-08-07 01:58:54.847] [moveit_pro_license] [info] ×2 + 11.07sINFOobjective_server_node************************************************* ×4 + 11.07sINFOobjective_server_node* MoveIt Pro License ×2 + 11.07sINFOobjective_server_node* Application has successfully terminated ×2 + 11.12sINFOmove_group-9process has finished cleanly [pid 9014] ×2 + 11.12sINFOobjective_server_nodecorrupted double-linked list ×2 + 11.12sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.14sINFOobjective_server_node#20 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.14sINFOobjective_server_node#19 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557609919254, in _start ×2 + 11.14sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f32218cb28a, in __libc_start_main ×2 + 11.14sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f32218cb1d0, in ×2 + 11.14sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f32218e8bbd, in exit ×2 + 11.14sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f32218e8a75, in ×2 + 11.14sINFOobjective_server_node#14 Object "/opt/overlay_ws/install/moveit_pro_ml/lib/libmoveit_pro_ml.so", at 0x7f31dc19f411, in Ort::detail::Base<OrtEnv>::~Base() ×2 + 11.14sINFOobjective_server_node#13 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.24.3", at 0x7f31d6e1c704, in ×2 + 11.14sINFOobjective_server_node#12 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.24.3", at 0x7f31d6e93052, in ×2 + 11.14sINFOobjective_server_node#11 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.24.3", at 0x7f31d758f176, in ×2 + 11.14sINFOobjective_server_node#10 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.24.3", at 0x7f31d758f079, in ×2 + 11.14sINFOobjective_server_node#9 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f322194edcd, in __libc_free ×2 + 11.14sINFOobjective_server_node#8 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f322194c439, in ×2 + 11.14sINFOobjective_server_node#7 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f322194bda4, in ×2 + 11.14sINFOobjective_server_node#6 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f322194ad2a, in ×2 + 11.14sINFOobjective_server_node#5 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f322194ab7b, in ×2 + 11.14sINFOobjective_server_node#4 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3221949ff4, in ×2 + 11.14sINFOobjective_server_node#3 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f32218ca7b5, in ×2 + 11.14sINFOobjective_server_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f32218c98fe, in abort ×2 + 11.14sINFOobjective_server_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f32218e627d, in raise ×2 + 11.14sINFOobjective_server_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f322193fb2c, in pthread_kill ×2 + 11.14sERRORobjective_server_nodeAborted (Signal sent by tkill() 9019 0) ×2 + 11.59sINFOros2_control_node-1process has finished cleanly [pid 8977] ×2 + 11.59sERRORobjective_server_node_main-14process has died [pid 9019, 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_2_wqdxav --params-file /tmp/launch_params_a5tgulwr --params-file /tmp/launch_params_sureaw6w --params-file /tmp/launch_params_y767el0j --params-file /tmp/launch_params_6lskq4vf --params-file /tmp/launch_params_h9oqi9l6 --params-file /tmp/launch_params_5cbej2y8 --params-file /tmp/launch_params_nn1vrc0l --params-file /tmp/launch_params_3v830dq0']. ×2 + 11.59sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.36sINFOweb_bridge-19process has finished cleanly [pid 9024] ×2 + 12.37sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 5.7s | 40 warnings · 179 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786067755.98309684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786067756.04325652 seconds ×3 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.67sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786067756.65229607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (5.43e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.78sINFOros2_control_node[2026-08-07 01:55:56.766] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-07 01:55:56.766] [info] Accepted new action goal ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533382 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533382 ms (missed cycles : 2).[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340113 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340113 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786067758.77242923 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.615691 ms (missed cycles : 6). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.615691 ms (missed cycles : 6).[0m ×2 + 3.55sWARNros2_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 ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.077649 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.077649 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786067760.37144542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.423838 ms (missed cycles : 5). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.423838 ms (missed cycles : 5).[0m ×2 + 5.09sINFOobjective_server_node[2026-08-07 01:56:01.074] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.96sINFOobjective_server_node[0;93m2026-08-07 01:56:01.939937520 [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 + 5.96sINFOobjective_server_node[0;93m2026-08-07 01:56:01.939980281 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412445 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412445 ms (missed cycles : 3).[0m ×2 + 6.23sINFOobjective_server_node[2026-08-07 01:56:02.207] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.90sINFOobjective_server_node[0;93m2026-08-07 01:56:02.882671414 [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 + 6.90sINFOobjective_server_node[0;93m2026-08-07 01:56:02.882711894 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.07sINFOobjective_server_node[2026-08-07 01:56:03.050] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 7.14sINFOobjective_server_node[0;93m2026-08-07 01:56:03.121841422 [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 + 7.14sINFOobjective_server_node[0;93m2026-08-07 01:56:03.124956556 [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 + 7.14sINFOobjective_server_node[0;93m2026-08-07 01:56:03.124983145 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.16sINFOobjective_server_node[2026-08-07 01:56:03.142] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519046 ms (missed cycles : 3). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519046 ms (missed cycles : 3).[0m ×2 + 7.54sINFOobjective_server_node[0;93m2026-08-07 01:56:03.520932517 [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 + 7.56sINFOobjective_server_node[0;93m2026-08-07 01:56:03.543542326 [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 + 7.56sINFOobjective_server_node[0;93m2026-08-07 01:56:03.543577320 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876425 ms (missed cycles : 2). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876425 ms (missed cycles : 2).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735633 ms (missed cycles : 2). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735633 ms (missed cycles : 2).[0m ×2 + 9.50sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786067765.48245907 seconds ×3 + 9.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 10.24sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786067766.22306299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 10.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 10.32sINFOobjective_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 + 10.33sINFOobjective_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 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418173 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418173 ms (missed cycles : 2).[0m ×2 + 10.60sINFOobjective_server_nodeFound path in 0 iterations (6.24e-07 s). ×2 + 10.61sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 10.65sINFOros2_control_node[2026-08-07 01:56:06.633] [info] Received new action goal ×2 + 10.65sINFOros2_control_node[2026-08-07 01:56:06.633] [info] Accepted new action goal ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176679 ms (missed cycles : 3). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176679 ms (missed cycles : 3).[0m ×2 + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.441334 ms (missed cycles : 9). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.441334 ms (missed cycles : 9).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321479 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321479 ms (missed cycles : 3).[0m ×2 + 0.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 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 1.743950 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743950 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.610193 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.610193 ms (missed cycles : 5).[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786067755.31748676 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482705 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482705 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786067755.98309684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786067756.04325652 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786067756.65229607 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 (5.43e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.09sINFOros2_control_node[2026-08-07 01:55:56.766] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-07 01:55:56.766] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533382 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533382 ms (missed cycles : 2).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340113 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340113 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786067758.77242923 seconds ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.615691 ms (missed cycles : 6). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.615691 ms (missed cycles : 6).[0m ×2 + 6.85sWARNros2_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 ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.077649 ms (missed cycles : 4). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.077649 ms (missed cycles : 4).[0m ×2 + 7.69sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786067760.37144542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.423838 ms (missed cycles : 5). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.423838 ms (missed cycles : 5).[0m ×2 + 8.39sINFOobjective_server_node[2026-08-07 01:56:01.074] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.26sINFOobjective_server_node[0;93m2026-08-07 01:56:01.939937520 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.26sINFOobjective_server_node[0;93m2026-08-07 01:56:01.939980281 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412445 ms (missed cycles : 3). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412445 ms (missed cycles : 3).[0m ×2 + 9.53sINFOobjective_server_node[2026-08-07 01:56:02.207] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 10.20sINFOobjective_server_node[0;93m2026-08-07 01:56:02.882671414 [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 + 10.20sINFOobjective_server_node[0;93m2026-08-07 01:56:02.882711894 [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 · 32 warnings · 245 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407176 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407176 ms (missed cycles : 2).[0m ×2 + 0.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.13sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×3 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×11 + 0.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 0.13sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.13sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 0.25sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 0.26sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.27sINFOros2_control_node[2026-08-07 01:56:55.899] [info] Received new action goal ×2 + 0.27sINFOros2_control_node[2026-08-07 01:56:55.899] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557591 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557591 ms (missed cycles : 2).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710385 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710385 ms (missed cycles : 2).[0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717615 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717615 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786067819.50470018 seconds ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519046 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519046 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786067820.11533093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.66sINFOros2_control_node[2026-08-07 01:57:00.289] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-07 01:57:00.289] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146250 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146250 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_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 ×6 + 5.94sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.95sWARNros2_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 + 5.99sINFOobjective_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 + 6.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 6.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 6.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 6.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 6.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 6.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 6.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 6.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.37sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 6.38sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774893 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774893 ms (missed cycles : 2).[0m ×2 + 7.59sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786067823.21170950 seconds ×3 + 7.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 7.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 7.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 7.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 7.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 7.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626682 ms (missed cycles : 3). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626682 ms (missed cycles : 3).[0m ×2 + 8.22sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786067823.84547400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 8.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 8.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 8.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 8.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 8.36sINFOobjective_server_nodeFound path in 0 iterations (4.57e-07 s). ×2 + 8.36sINFOros2_control_node[2026-08-07 01:57:03.989] [info] Received new action goal ×2 + 8.36sINFOros2_control_node[2026-08-07 01:57:03.989] [info] Accepted new action goal ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.192801 ms (missed cycles : 5). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.192801 ms (missed cycles : 5).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851014 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851014 ms (missed cycles : 2).[0m ×2 + 9.95sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786067825.57654762 seconds ×3 + 10.59sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1786067826.21405005 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ 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 · 31 warnings · 227 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786067819.50470018 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519046 ms (missed cycles : 3). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519046 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786067820.11533093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 0.79sINFOros2_control_node[2026-08-07 01:57:00.289] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-08-07 01:57:00.289] [info] Accepted new action goal ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146250 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146250 ms (missed cycles : 3).[0m ×2 + 2.05sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 2.06sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.07sWARNros2_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 + 2.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.49sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 2.51sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774893 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774893 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786067823.21170950 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626682 ms (missed cycles : 3). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626682 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786067823.84547400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (4.57e-07 s). ×2 + 4.49sINFOros2_control_node[2026-08-07 01:57:03.989] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-07 01:57:03.989] [info] Accepted new action goal ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.192801 ms (missed cycles : 5). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.192801 ms (missed cycles : 5).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851014 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851014 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786067825.57654762 seconds ×3 + 6.71sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1786067826.21405005 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (5.94e-07 s). ×2 + 6.88sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 6.88sINFOros2_control_node[2026-08-07 01:57:06.388] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-08-07 01:57:06.388] [info] Accepted new action goal ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276027 ms (missed cycles : 2). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276027 ms (missed cycles : 2).[0m ×2 + 7.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 8.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515662 ms (missed cycles : 3). + 8.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515662 ms (missed cycles : 3).[0m ×2 + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387920 ms (missed cycles : 3). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387920 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.1s | 3 errors · 31 warnings · 139 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565694 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565694 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.628059 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.628059 ms (missed cycles : 4).[0m ×2 + 1.11sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.90sWARNros2_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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192655 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192655 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564649 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564649 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_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 + 3.16sINFOros2_control_node[2026-08-07 01:58:43.817] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-08-07 01:58:43.817] [info] Canceling active goal... ×2 + 3.17sERRORobjective_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: 1786067923.82302737 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786067924.47378612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.751736 ms (missed cycles : 6). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.751736 ms (missed cycles : 6).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548488 ms (missed cycles : 6). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548488 ms (missed cycles : 6).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786067926.02392125 seconds ×3 + 5.97sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786067926.63099456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.98sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.98sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.98sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.98sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786067926.63391447 seconds ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874554 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874554 ms (missed cycles : 2).[0m ×2 + 6.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786067927.23174238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786067927.23224664 seconds ×3 + 6.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 7.19sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786067927.84621263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504724 ms (missed cycles : 3). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504724 ms (missed cycles : 3).[0m ×2 + 7.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786067928.52635074 seconds ×3 + 7.91sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 32 warnings · 531 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.22sINFOobjective_server_node[2026-08-07 01:54:31.192] [moveit_pro_license] [info] ×2 + 0.22sINFOobjective_server_node************************************************* ×4 + 0.22sINFOobjective_server_node* MoveIt Pro License ×2 + 0.22sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.33sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 0.33sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.34sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.34sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.34sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.34sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.34sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.34sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.34sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.34sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.45sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.45sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.76sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.76sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.76sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.76sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.76sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.76sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.76sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.76sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.76sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.76sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.76sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.76sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.76sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.77sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.81sINFOcomponent_container_mt[2026-08-07 01:54:31.781] [moveit_pro_license] [info] ×2 + 0.81sINFOcomponent_container_mt************************************************* ×4 + 0.81sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.81sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.84sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.84sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.84sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 0.84sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 0.86sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.86sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.86sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.86sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.87sINFOforce_torque_sensor_broadcasterconfigure successful + 0.87sINFOros2_control_nodeconfigure successful[0m ×2 + 0.87sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.87sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.87sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.88sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.88sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.17sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.17sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.18sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.18sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 1.18sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 1.22sINFOros2-2process has finished cleanly [pid 8978] ×2 + 1.25sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.25sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.25sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.25sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.25sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.25sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.27sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.28sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.28sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.29sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.29sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.31sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700091 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700091 ms (missed cycles : 2).[0m ×2 + 1.56sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.56sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.57sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.57sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.61sINFOros2-4process has finished cleanly [pid 8980] ×2 + 1.68sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 1.68sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 1.73sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.73sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.73sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.73sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.74sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.77sINFOros2_control_node[2026-08-07 01:54:32.743] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-08-07 01:54:32.745] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.04sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.04sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.04sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.04sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 2.04sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 2.10sINFOros2-7process has finished cleanly [pid 8983] ×2 + 2.11sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.11sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.11sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.11sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.11sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.11sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.11sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.11sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.11sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.11sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.12sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.12sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.12sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.12sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.13sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.13sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.46sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.46sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.46sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.46sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.47sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 2.47sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824019 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824019 ms (missed cycles : 2).[0m ×2 + 2.48sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.48sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.51sINFOros2-5process has finished cleanly [pid 8981] ×2 + 2.51sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.51sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.51sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.51sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.52sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.52sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.54sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.54sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.63sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.87sINFOros2-3process has finished cleanly [pid 8979] ×2 + 2.88sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.88sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.88sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.88sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.95sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 2.95sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 3.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 3.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 3.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 3.02sINFOros2_control_node[2026-08-07 01:54:33.996] [info] Controller state will be published at 20 Hz. ×2 + 3.03sINFOros2_control_node[2026-08-07 01:54:33.996] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.17sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786067674.34474277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 3.37sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.37sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 3.37sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786067674.35499835 seconds ×3 + 3.40sINFOros2-8process has finished cleanly [pid 8984] ×2 + 3.46sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 3.46sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 3.51sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.51sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 3.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 3.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 3.51sINFOros2_control_node[2026-08-07 01:54:34.482] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.51sINFOros2_control_node[2026-08-07 01:54:34.482] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.55sINFOros2_control_node[2026-08-07 01:54:34.518] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 3.55sINFOros2_control_node[2026-08-07 01:54:34.518] [info] Controller state will be published at 50 Hz. ×2 + 3.55sINFOros2_control_node[2026-08-07 01:54:34.524] [info] Registered `FollowJointTrajectory` action server. ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 3.85sINFOros2-6process has finished cleanly [pid 8982] ×2 + 4.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 5.13sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 5.25sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.75sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 6.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 6.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 7.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 8.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.02sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 8.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 8.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 8.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 8.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 8.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 8.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.8s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989352 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989352 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313128 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313128 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559996 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559996 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.68sINFOobjective_server_nodeFound path in 0 iterations (7.03e-07 s). ×2 + 2.68sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.69sINFOros2_control_node[2026-08-07 01:54:49.352] [info] Received new action goal ×2 + 2.69sINFOros2_control_node[2026-08-07 01:54:49.352] [info] Accepted new action goal ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669900 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669900 ms (missed cycles : 2).[0m ×2 + 3.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sINFOobjective_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 + 3.27sINFOros2_control_node[2026-08-07 01:54:49.928] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-08-07 01:54:49.928] [info] Canceling active goal... ×2 + 3.28sERRORobjective_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: 1786067689.94391251 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786067690.59901237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786067690.71913743 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.840383 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.840383 ms (missed cycles : 6).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786067691.33965659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.87sINFOros2_control_node[2026-08-07 01:54:51.533] [info] Received new action goal ×2 + 4.88sINFOros2_control_node[2026-08-07 01:54:51.533] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808878 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808878 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628284 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628284 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 26 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.800965 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.800965 ms (missed cycles : 5).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321479 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321479 ms (missed cycles : 3).[0m ×2 + 1.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743950 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743950 ms (missed cycles : 2).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.610193 ms (missed cycles : 5). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.610193 ms (missed cycles : 5).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786067755.31748676 seconds ×3 + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482705 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482705 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786067755.98309684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.51sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786067756.04325652 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786067756.65229607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.24sINFOobjective_server_nodeFound path in 0 iterations (5.43e-07 s). ×2 + 5.24sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.25sINFOros2_control_node[2026-08-07 01:55:56.766] [info] Received new action goal ×2 + 5.25sINFOros2_control_node[2026-08-07 01:55:56.766] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533382 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533382 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340113 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340113 ms (missed cycles : 2).[0m ×2 + 7.25sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786067758.77242923 seconds ×3 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.615691 ms (missed cycles : 6). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.615691 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786599 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786599 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449796 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449796 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056050 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056050 ms (missed cycles : 5).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405400 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405400 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_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 + 3.28sERRORobjective_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: 1786067911.32207918 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.49 s); wrist_camera (1.49 s). The render path has stopped producing new frames for them.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786067911.96033907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.99sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786067912.05049729 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700072 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700072 ms (missed cycles : 6).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786067912.67748499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.66sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786067912.70034075 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272612 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272612 ms (missed cycles : 3).[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786067913.31753469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.40sINFOros2_control_node[2026-08-07 01:58:33.442] [info] Received new action goal ×2 + 5.40sINFOros2_control_node[2026-08-07 01:58:33.442] [info] Accepted new action goal ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089318 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089318 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 26 warnings · 87 info |
+ 0.00sINFOros2_control_node[2026-08-07 01:55:05.843] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-07 01:55:05.843] [info] Accepted new action goal ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524794 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524794 ms (missed cycles : 3).[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389650 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389650 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-07 01:55:07.754] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-07 01:55:07.754] [info] Accepted new action goal ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552961 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552961 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786067709.14095068 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.528503 ms (missed cycles : 7). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.528503 ms (missed cycles : 7).[0m ×2 + 3.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786067709.77536488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786067709.85550332 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786067710.50985050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719797 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719797 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.79sINFOros2_control_node[2026-08-07 01:55:10.634] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-07 01:55:10.634] [info] Accepted new action goal ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454467 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454467 ms (missed cycles : 3).[0m ×2 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672209 ms (missed cycles : 2). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672209 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.6s | 28 warnings · 421 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8980] ×2 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 0.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 0.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.16sINFOros2_control_node[2026-08-07 01:54:32.743] [info] Controller state will be published at 10 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-07 01:54:32.745] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.42sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.42sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.42sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.43sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 0.43sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 0.48sINFOros2-7process has finished cleanly [pid 8983] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.50sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.50sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.50sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.50sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.50sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.50sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.50sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.50sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.50sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.50sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.50sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.51sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.51sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.85sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.85sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.85sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.85sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 0.85sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824019 ms (missed cycles : 2). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824019 ms (missed cycles : 2).[0m ×2 + 0.86sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.86sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.89sINFOros2-5process has finished cleanly [pid 8981] ×2 + 0.90sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.90sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.90sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.90sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.90sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.92sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.92sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.01sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 1.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 1.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 1.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.26sINFOros2-3process has finished cleanly [pid 8979] ×2 + 1.26sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.26sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.26sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.26sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.34sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 1.34sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 1.38sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.38sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.38sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.38sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_node[2026-08-07 01:54:33.996] [info] Controller state will be published at 20 Hz. ×2 + 1.41sINFOros2_control_node[2026-08-07 01:54:33.996] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.55sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786067674.34474277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.76sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.76sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.76sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786067674.35499835 seconds ×3 + 1.78sINFOros2-8process has finished cleanly [pid 8984] ×2 + 1.84sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 1.84sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 1.89sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.89sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.90sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.90sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.90sINFOros2_control_node[2026-08-07 01:54:34.482] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.90sINFOros2_control_node[2026-08-07 01:54:34.482] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.93sINFOros2_control_node[2026-08-07 01:54:34.518] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.93sINFOros2_control_node[2026-08-07 01:54:34.518] [info] Controller state will be published at 50 Hz. ×2 + 1.94sINFOros2_control_node[2026-08-07 01:54:34.524] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 2.24sINFOros2-6process has finished cleanly [pid 8982] ×2 + 2.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 3.63sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 4.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 6.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 7.03sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.04sINFOobjective_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 + 7.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.15sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 7.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.17sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 7.17sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449796 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449796 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056050 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056050 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405400 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405400 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sERRORobjective_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: 1786067911.32207918 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.49 s); wrist_camera (1.49 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786067911.96033907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786067912.05049729 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700072 ms (missed cycles : 6). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700072 ms (missed cycles : 6).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786067912.67748499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786067912.70034075 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272612 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272612 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786067913.31753469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.36sINFOros2_control_node[2026-08-07 01:58:33.442] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-08-07 01:58:33.442] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089318 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089318 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028531 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028531 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 28 warnings · 137 info |
+ 0.00sWARNros2_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 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192655 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192655 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564649 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564649 ms (missed cycles : 2).[0m ×2 + 1.26sINFOobjective_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 + 1.27sINFOros2_control_node[2026-08-07 01:58:43.817] [info] Got request to cancel active goal. ×2 + 1.27sINFOros2_control_node[2026-08-07 01:58:43.817] [info] Canceling active goal... ×2 + 1.27sERRORobjective_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: 1786067923.82302737 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786067924.47378612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.751736 ms (missed cycles : 6). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.751736 ms (missed cycles : 6).[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548488 ms (missed cycles : 6). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548488 ms (missed cycles : 6).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786067926.02392125 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786067926.63099456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.08sINFOobjective_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 + 4.08sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.08sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786067926.63391447 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874554 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874554 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786067927.23174238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786067927.23224664 seconds ×3 + 5.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786067927.84621263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504724 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504724 ms (missed cycles : 3).[0m ×2 + 5.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786067928.52635074 seconds ×3 + 6.01sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740065 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740065 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 26 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192655 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192655 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564649 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564649 ms (missed cycles : 2).[0m ×2 + 1.09sINFOobjective_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 + 1.10sINFOros2_control_node[2026-08-07 01:58:43.817] [info] Got request to cancel active goal. ×2 + 1.10sINFOros2_control_node[2026-08-07 01:58:43.817] [info] Canceling active goal... ×2 + 1.10sERRORobjective_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: 1786067923.82302737 seconds ×3 + 1.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.16sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786067924.47378612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.751736 ms (missed cycles : 6). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.751736 ms (missed cycles : 6).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548488 ms (missed cycles : 6). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548488 ms (missed cycles : 6).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786067926.02392125 seconds ×3 + 3.91sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786067926.63099456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.91sINFOobjective_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 + 3.91sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786067926.63391447 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874554 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874554 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786067927.23174238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786067927.23224664 seconds ×3 + 4.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786067927.84621263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504724 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504724 ms (missed cycles : 3).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786067928.52635074 seconds ×3 + 5.84sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740065 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740065 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 77 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 01:56:01.939937520 [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;93m2026-08-07 01:56:01.939980281 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412445 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412445 ms (missed cycles : 3).[0m ×2 + 0.27sINFOobjective_server_node[2026-08-07 01:56:02.207] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.94sINFOobjective_server_node[0;93m2026-08-07 01:56:02.882671414 [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 + 0.94sINFOobjective_server_node[0;93m2026-08-07 01:56:02.882711894 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.11sINFOobjective_server_node[2026-08-07 01:56:03.050] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.18sINFOobjective_server_node[0;93m2026-08-07 01:56:03.121841422 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.19sINFOobjective_server_node[0;93m2026-08-07 01:56:03.124956556 [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 + 1.19sINFOobjective_server_node[0;93m2026-08-07 01:56:03.124983145 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.20sINFOobjective_server_node[2026-08-07 01:56:03.142] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519046 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519046 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_node[0;93m2026-08-07 01:56:03.520932517 [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 + 1.60sINFOobjective_server_node[0;93m2026-08-07 01:56:03.543542326 [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 + 1.60sINFOobjective_server_node[0;93m2026-08-07 01:56:03.543577320 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876425 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876425 ms (missed cycles : 2).[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735633 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735633 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786067765.48245907 seconds ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786067766.22306299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.36sINFOobjective_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 + 4.37sINFOobjective_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 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418173 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418173 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (6.24e-07 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOros2_control_node[2026-08-07 01:56:06.633] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-07 01:56:06.633] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176679 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176679 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.441334 ms (missed cycles : 9). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.441334 ms (missed cycles : 9).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989352 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989352 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313128 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313128 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559996 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559996 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.68sINFOobjective_server_nodeFound path in 0 iterations (7.03e-07 s). ×2 + 2.68sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.69sINFOros2_control_node[2026-08-07 01:54:49.352] [info] Received new action goal ×2 + 2.69sINFOros2_control_node[2026-08-07 01:54:49.352] [info] Accepted new action goal ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669900 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669900 ms (missed cycles : 2).[0m ×2 + 3.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sINFOobjective_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 + 3.27sINFOros2_control_node[2026-08-07 01:54:49.928] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-08-07 01:54:49.928] [info] Canceling active goal... ×2 + 3.28sERRORobjective_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: 1786067689.94391251 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786067690.59901237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786067690.71913743 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.840383 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.840383 ms (missed cycles : 6).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786067691.33965659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.87sINFOros2_control_node[2026-08-07 01:54:51.533] [info] Received new action goal ×2 + 4.88sINFOros2_control_node[2026-08-07 01:54:51.533] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808878 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808878 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628284 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628284 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989352 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989352 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313128 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313128 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559996 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559996 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.68sINFOobjective_server_nodeFound path in 0 iterations (7.03e-07 s). ×2 + 2.68sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.69sINFOros2_control_node[2026-08-07 01:54:49.352] [info] Received new action goal ×2 + 2.69sINFOros2_control_node[2026-08-07 01:54:49.352] [info] Accepted new action goal ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669900 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669900 ms (missed cycles : 2).[0m ×2 + 3.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sINFOobjective_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 + 3.27sINFOros2_control_node[2026-08-07 01:54:49.928] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-08-07 01:54:49.928] [info] Canceling active goal... ×2 + 3.28sERRORobjective_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: 1786067689.94391251 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786067690.59901237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786067690.71913743 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.840383 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.840383 ms (missed cycles : 6).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786067691.33965659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.87sINFOros2_control_node[2026-08-07 01:54:51.533] [info] Received new action goal ×2 + 4.88sINFOros2_control_node[2026-08-07 01:54:51.533] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808878 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808878 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628284 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628284 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313128 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313128 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559996 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559996 ms (missed cycles : 3).[0m ×2 + 1.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.63sINFOobjective_server_nodeFound path in 0 iterations (7.03e-07 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.65sINFOros2_control_node[2026-08-07 01:54:49.352] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-08-07 01:54:49.352] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669900 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669900 ms (missed cycles : 2).[0m ×2 + 2.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.21sINFOobjective_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 + 2.23sINFOros2_control_node[2026-08-07 01:54:49.928] [info] Got request to cancel active goal. ×2 + 2.23sINFOros2_control_node[2026-08-07 01:54:49.928] [info] Canceling active goal... ×2 + 2.24sERRORobjective_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: 1786067689.94391251 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786067690.59901237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786067690.71913743 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.840383 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.840383 ms (missed cycles : 6).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786067691.33965659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.83sINFOros2_control_node[2026-08-07 01:54:51.533] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-08-07 01:54:51.533] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808878 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808878 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628284 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628284 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 26 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524794 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524794 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389650 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389650 ms (missed cycles : 2).[0m ×2 + 1.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.57sINFOros2_control_node[2026-08-07 01:55:07.754] [info] Received new action goal ×2 + 1.57sINFOros2_control_node[2026-08-07 01:55:07.754] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552961 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552961 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786067709.14095068 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.528503 ms (missed cycles : 7). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.528503 ms (missed cycles : 7).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786067709.77536488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786067709.85550332 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786067710.50985050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719797 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719797 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.45sINFOros2_control_node[2026-08-07 01:55:10.634] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-07 01:55:10.634] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454467 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454467 ms (missed cycles : 3).[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672209 ms (missed cycles : 2). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672209 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491527 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491527 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126012 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126012 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.48sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 1.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.48sINFOros2_control_node[2026-08-07 01:55:18.671] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-08-07 01:55:18.671] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157134 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157134 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417822 ms (missed cycles : 6). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417822 ms (missed cycles : 6).[0m ×2 + 3.63sINFOobjective_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 + 3.63sINFOros2_control_node[2026-08-07 01:55:20.820] [info] Got request to cancel active goal. ×2 + 3.63sINFOros2_control_node[2026-08-07 01:55:20.820] [info] Canceling active goal... ×2 + 3.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786067720.83254075 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043355 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043355 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786067721.47791147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (5.72e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.49sINFOros2_control_node[2026-08-07 01:55:21.682] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-07 01:55:21.682] [info] Accepted new action goal ×2 + 4.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429694 ms (missed cycles : 6). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429694 ms (missed cycles : 6).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815405 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815405 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 77 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 01:56:01.939937520 [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;93m2026-08-07 01:56:01.939980281 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412445 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412445 ms (missed cycles : 3).[0m ×2 + 0.27sINFOobjective_server_node[2026-08-07 01:56:02.207] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.94sINFOobjective_server_node[0;93m2026-08-07 01:56:02.882671414 [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 + 0.94sINFOobjective_server_node[0;93m2026-08-07 01:56:02.882711894 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.11sINFOobjective_server_node[2026-08-07 01:56:03.050] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.18sINFOobjective_server_node[0;93m2026-08-07 01:56:03.121841422 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.19sINFOobjective_server_node[0;93m2026-08-07 01:56:03.124956556 [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 + 1.19sINFOobjective_server_node[0;93m2026-08-07 01:56:03.124983145 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.20sINFOobjective_server_node[2026-08-07 01:56:03.142] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519046 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519046 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_node[0;93m2026-08-07 01:56:03.520932517 [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 + 1.60sINFOobjective_server_node[0;93m2026-08-07 01:56:03.543542326 [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 + 1.60sINFOobjective_server_node[0;93m2026-08-07 01:56:03.543577320 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876425 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876425 ms (missed cycles : 2).[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735633 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735633 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786067765.48245907 seconds ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786067766.22306299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.36sINFOobjective_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 + 4.37sINFOobjective_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 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418173 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418173 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (6.24e-07 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOros2_control_node[2026-08-07 01:56:06.633] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-07 01:56:06.633] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176679 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176679 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.441334 ms (missed cycles : 9). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.441334 ms (missed cycles : 9).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 warnings · 77 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 01:56:01.939937520 [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;93m2026-08-07 01:56:01.939980281 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412445 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412445 ms (missed cycles : 3).[0m ×2 + 0.27sINFOobjective_server_node[2026-08-07 01:56:02.207] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.94sINFOobjective_server_node[0;93m2026-08-07 01:56:02.882671414 [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 + 0.94sINFOobjective_server_node[0;93m2026-08-07 01:56:02.882711894 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.11sINFOobjective_server_node[2026-08-07 01:56:03.050] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.18sINFOobjective_server_node[0;93m2026-08-07 01:56:03.121841422 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.19sINFOobjective_server_node[0;93m2026-08-07 01:56:03.124956556 [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 + 1.19sINFOobjective_server_node[0;93m2026-08-07 01:56:03.124983145 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.20sINFOobjective_server_node[2026-08-07 01:56:03.142] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519046 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519046 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_node[0;93m2026-08-07 01:56:03.520932517 [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 + 1.60sINFOobjective_server_node[0;93m2026-08-07 01:56:03.543542326 [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 + 1.60sINFOobjective_server_node[0;93m2026-08-07 01:56:03.543577320 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876425 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876425 ms (missed cycles : 2).[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735633 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735633 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786067765.48245907 seconds ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786067766.22306299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.36sINFOobjective_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 + 4.37sINFOobjective_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 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418173 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418173 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (6.24e-07 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOros2_control_node[2026-08-07 01:56:06.633] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-07 01:56:06.633] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176679 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176679 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.441334 ms (missed cycles : 9). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.441334 ms (missed cycles : 9).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 77 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 01:56:01.939937520 [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;93m2026-08-07 01:56:01.939980281 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412445 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412445 ms (missed cycles : 3).[0m ×2 + 0.27sINFOobjective_server_node[2026-08-07 01:56:02.207] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.94sINFOobjective_server_node[0;93m2026-08-07 01:56:02.882671414 [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 + 0.94sINFOobjective_server_node[0;93m2026-08-07 01:56:02.882711894 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.11sINFOobjective_server_node[2026-08-07 01:56:03.050] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.18sINFOobjective_server_node[0;93m2026-08-07 01:56:03.121841422 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.19sINFOobjective_server_node[0;93m2026-08-07 01:56:03.124956556 [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 + 1.19sINFOobjective_server_node[0;93m2026-08-07 01:56:03.124983145 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.20sINFOobjective_server_node[2026-08-07 01:56:03.142] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519046 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519046 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_node[0;93m2026-08-07 01:56:03.520932517 [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 + 1.60sINFOobjective_server_node[0;93m2026-08-07 01:56:03.543542326 [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 + 1.60sINFOobjective_server_node[0;93m2026-08-07 01:56:03.543577320 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876425 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876425 ms (missed cycles : 2).[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735633 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735633 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786067765.48245907 seconds ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786067766.22306299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.36sINFOobjective_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 + 4.37sINFOobjective_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 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418173 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418173 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (6.24e-07 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOros2_control_node[2026-08-07 01:56:06.633] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-07 01:56:06.633] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176679 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176679 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.441334 ms (missed cycles : 9). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.441334 ms (missed cycles : 9).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 9 errors · 23 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407176 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407176 ms (missed cycles : 2).[0m ×2 + 0.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 0.13sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.13sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.13sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.13sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.25sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 0.26sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.27sINFOros2_control_node[2026-08-07 01:56:55.899] [info] Received new action goal ×2 + 0.27sINFOros2_control_node[2026-08-07 01:56:55.899] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557591 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557591 ms (missed cycles : 2).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710385 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710385 ms (missed cycles : 2).[0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717615 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717615 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786067819.50470018 seconds ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519046 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519046 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786067820.11533093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.66sINFOros2_control_node[2026-08-07 01:57:00.289] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-07 01:57:00.289] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146250 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146250 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_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 + 5.94sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.95sWARNros2_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 + 5.99sINFOobjective_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 + 6.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 6.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 6.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×9 + 6.38sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×6 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774893 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774893 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787107 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787107 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692735 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692735 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.040866 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.040866 ms (missed cycles : 4).[0m ×2 + 2.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.73sWARNros2_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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739184 ms (missed cycles : 5). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739184 ms (missed cycles : 5).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786067868.16827846 seconds ×3 + 3.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786067868.91956806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697546 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697546 ms (missed cycles : 3).[0m ×2 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-08-07 01:57:49.194] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-08-07 01:57:49.194] [info] Accepted new action goal ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.734421 ms (missed cycles : 6). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.734421 ms (missed cycles : 6).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867657 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867657 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787107 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787107 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692735 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692735 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.040866 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.040866 ms (missed cycles : 4).[0m ×2 + 2.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.73sWARNros2_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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739184 ms (missed cycles : 5). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739184 ms (missed cycles : 5).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786067868.16827846 seconds ×3 + 3.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786067868.91956806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697546 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697546 ms (missed cycles : 3).[0m ×2 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-08-07 01:57:49.194] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-08-07 01:57:49.194] [info] Accepted new action goal ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.734421 ms (missed cycles : 6). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.734421 ms (missed cycles : 6).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867657 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867657 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821080 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821080 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_node[2026-08-07 01:57:55.959] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-08-07 01:57:55.959] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837647 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837647 ms (missed cycles : 2).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682993 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682993 ms (missed cycles : 2).[0m ×2 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.65sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.67sINFOros2_control_node[2026-08-07 01:57:57.983] [info] Received new action goal ×2 + 2.67sINFOros2_control_node[2026-08-07 01:57:57.983] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280827 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280827 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOros2_control_node[2026-08-07 01:57:58.929] [info] Got request to cancel active goal. ×2 + 3.61sINFOros2_control_node[2026-08-07 01:57:58.929] [info] Canceling active goal... ×2 + 3.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786067878.94419670 seconds ×3 + 3.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.29sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786067879.60466671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496870 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496870 ms (missed cycles : 4).[0m ×2 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sWARNros2_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 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sINFOros2_control_node[2026-08-07 01:57:59.789] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-07 01:57:59.789] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900428 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900428 ms (missed cycles : 2).[0m ×2 + 6.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.746070 ms (missed cycles : 6). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.746070 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786599 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786599 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449796 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449796 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056050 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056050 ms (missed cycles : 5).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405400 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405400 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_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 + 3.28sERRORobjective_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: 1786067911.32207918 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.49 s); wrist_camera (1.49 s). The render path has stopped producing new frames for them.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786067911.96033907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.99sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786067912.05049729 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700072 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700072 ms (missed cycles : 6).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786067912.67748499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.66sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786067912.70034075 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272612 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272612 ms (missed cycles : 3).[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786067913.31753469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.40sINFOros2_control_node[2026-08-07 01:58:33.442] [info] Received new action goal ×2 + 5.40sINFOros2_control_node[2026-08-07 01:58:33.442] [info] Accepted new action goal ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089318 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089318 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786599 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786599 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449796 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449796 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056050 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056050 ms (missed cycles : 5).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405400 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405400 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_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 + 3.28sERRORobjective_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: 1786067911.32207918 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.49 s); wrist_camera (1.49 s). The render path has stopped producing new frames for them.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786067911.96033907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.99sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786067912.05049729 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700072 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700072 ms (missed cycles : 6).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786067912.67748499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.66sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786067912.70034075 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272612 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272612 ms (missed cycles : 3).[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786067913.31753469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.40sINFOros2_control_node[2026-08-07 01:58:33.442] [info] Received new action goal ×2 + 5.40sINFOros2_control_node[2026-08-07 01:58:33.442] [info] Accepted new action goal ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089318 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089318 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786599 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786599 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449796 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449796 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056050 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056050 ms (missed cycles : 5).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405400 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405400 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_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 + 3.28sERRORobjective_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: 1786067911.32207918 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.49 s); wrist_camera (1.49 s). The render path has stopped producing new frames for them.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786067911.96033907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.99sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786067912.05049729 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700072 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700072 ms (missed cycles : 6).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786067912.67748499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.66sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786067912.70034075 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272612 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272612 ms (missed cycles : 3).[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786067913.31753469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.40sINFOros2_control_node[2026-08-07 01:58:33.442] [info] Received new action goal ×2 + 5.40sINFOros2_control_node[2026-08-07 01:58:33.442] [info] Accepted new action goal ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089318 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089318 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786599 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786599 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449796 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449796 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056050 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056050 ms (missed cycles : 5).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405400 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405400 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_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 + 3.28sERRORobjective_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: 1786067911.32207918 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.49 s); wrist_camera (1.49 s). The render path has stopped producing new frames for them.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786067911.96033907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.99sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786067912.05049729 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700072 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700072 ms (missed cycles : 6).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786067912.67748499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.66sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786067912.70034075 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272612 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272612 ms (missed cycles : 3).[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786067913.31753469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.40sINFOros2_control_node[2026-08-07 01:58:33.442] [info] Received new action goal ×2 + 5.40sINFOros2_control_node[2026-08-07 01:58:33.442] [info] Accepted new action goal ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089318 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089318 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449796 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449796 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056050 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056050 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405400 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405400 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sERRORobjective_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: 1786067911.32207918 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.49 s); wrist_camera (1.49 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786067911.96033907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786067912.05049729 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700072 ms (missed cycles : 6). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700072 ms (missed cycles : 6).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786067912.67748499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786067912.70034075 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272612 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272612 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786067913.31753469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.36sINFOros2_control_node[2026-08-07 01:58:33.442] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-08-07 01:58:33.442] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089318 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089318 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028531 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028531 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449796 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449796 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056050 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056050 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405400 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405400 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sERRORobjective_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: 1786067911.32207918 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.49 s); wrist_camera (1.49 s). The render path has stopped producing new frames for them.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786067911.96033907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786067912.05049729 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700072 ms (missed cycles : 6). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700072 ms (missed cycles : 6).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786067912.67748499 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_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 + 3.61sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786067912.70034075 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272612 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272612 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786067913.31753469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.36sINFOros2_control_node[2026-08-07 01:58:33.442] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-08-07 01:58:33.442] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089318 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089318 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028531 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028531 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 23 warnings · 102 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565694 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565694 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.628059 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.628059 ms (missed cycles : 4).[0m ×2 + 1.11sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.90sWARNros2_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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192655 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192655 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564649 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564649 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_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 + 3.16sINFOros2_control_node[2026-08-07 01:58:43.817] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-08-07 01:58:43.817] [info] Canceling active goal... ×2 + 3.17sERRORobjective_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: 1786067923.82302737 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786067924.47378612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.751736 ms (missed cycles : 6). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.751736 ms (missed cycles : 6).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548488 ms (missed cycles : 6). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548488 ms (missed cycles : 6).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786067926.02392125 seconds ×3 + 5.97sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786067926.63099456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.98sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.98sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.98sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.98sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786067926.63391447 seconds ×3 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313128 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313128 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559996 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559996 ms (missed cycles : 3).[0m ×2 + 1.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.63sINFOobjective_server_nodeFound path in 0 iterations (7.03e-07 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.65sINFOros2_control_node[2026-08-07 01:54:49.352] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-08-07 01:54:49.352] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669900 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669900 ms (missed cycles : 2).[0m ×2 + 2.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.21sINFOobjective_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 + 2.23sINFOros2_control_node[2026-08-07 01:54:49.928] [info] Got request to cancel active goal. ×2 + 2.23sINFOros2_control_node[2026-08-07 01:54:49.928] [info] Canceling active goal... ×2 + 2.24sERRORobjective_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: 1786067689.94391251 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786067690.59901237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786067690.71913743 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.840383 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.840383 ms (missed cycles : 6).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786067691.33965659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.83sINFOros2_control_node[2026-08-07 01:54:51.533] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-08-07 01:54:51.533] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808878 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808878 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628284 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628284 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313128 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313128 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559996 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559996 ms (missed cycles : 3).[0m ×2 + 1.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.63sINFOobjective_server_nodeFound path in 0 iterations (7.03e-07 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.65sINFOros2_control_node[2026-08-07 01:54:49.352] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-08-07 01:54:49.352] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669900 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669900 ms (missed cycles : 2).[0m ×2 + 2.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.21sINFOobjective_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 + 2.23sINFOros2_control_node[2026-08-07 01:54:49.928] [info] Got request to cancel active goal. ×2 + 2.23sINFOros2_control_node[2026-08-07 01:54:49.928] [info] Canceling active goal... ×2 + 2.24sERRORobjective_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: 1786067689.94391251 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786067690.59901237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786067690.71913743 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.840383 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.840383 ms (missed cycles : 6).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786067691.33965659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.83sINFOros2_control_node[2026-08-07 01:54:51.533] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-08-07 01:54:51.533] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808878 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808878 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628284 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628284 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313128 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313128 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559996 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559996 ms (missed cycles : 3).[0m ×2 + 1.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.63sINFOobjective_server_nodeFound path in 0 iterations (7.03e-07 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.65sINFOros2_control_node[2026-08-07 01:54:49.352] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-08-07 01:54:49.352] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669900 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669900 ms (missed cycles : 2).[0m ×2 + 2.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.21sINFOobjective_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 + 2.23sINFOros2_control_node[2026-08-07 01:54:49.928] [info] Got request to cancel active goal. ×2 + 2.23sINFOros2_control_node[2026-08-07 01:54:49.928] [info] Canceling active goal... ×2 + 2.24sERRORobjective_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: 1786067689.94391251 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786067690.59901237 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786067690.71913743 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.840383 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.840383 ms (missed cycles : 6).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786067691.33965659 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.83sINFOros2_control_node[2026-08-07 01:54:51.533] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-08-07 01:54:51.533] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808878 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808878 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628284 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628284 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 26 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524794 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524794 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389650 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389650 ms (missed cycles : 2).[0m ×2 + 1.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.57sINFOros2_control_node[2026-08-07 01:55:07.754] [info] Received new action goal ×2 + 1.57sINFOros2_control_node[2026-08-07 01:55:07.754] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552961 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552961 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786067709.14095068 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.528503 ms (missed cycles : 7). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.528503 ms (missed cycles : 7).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786067709.77536488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786067709.85550332 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786067710.50985050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719797 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719797 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.45sINFOros2_control_node[2026-08-07 01:55:10.634] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-07 01:55:10.634] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454467 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454467 ms (missed cycles : 3).[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672209 ms (missed cycles : 2). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672209 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 26 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524794 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524794 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389650 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389650 ms (missed cycles : 2).[0m ×2 + 1.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.57sINFOros2_control_node[2026-08-07 01:55:07.754] [info] Received new action goal ×2 + 1.57sINFOros2_control_node[2026-08-07 01:55:07.754] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552961 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552961 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786067709.14095068 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.528503 ms (missed cycles : 7). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.528503 ms (missed cycles : 7).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786067709.77536488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786067709.85550332 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786067710.50985050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719797 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719797 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.45sINFOros2_control_node[2026-08-07 01:55:10.634] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-07 01:55:10.634] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454467 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454467 ms (missed cycles : 3).[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672209 ms (missed cycles : 2). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672209 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 26 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524794 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524794 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389650 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389650 ms (missed cycles : 2).[0m ×2 + 1.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.57sINFOros2_control_node[2026-08-07 01:55:07.754] [info] Received new action goal ×2 + 1.57sINFOros2_control_node[2026-08-07 01:55:07.754] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552961 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552961 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786067709.14095068 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.528503 ms (missed cycles : 7). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.528503 ms (missed cycles : 7).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786067709.77536488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786067709.85550332 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786067710.50985050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719797 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719797 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.45sINFOros2_control_node[2026-08-07 01:55:10.634] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-07 01:55:10.634] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454467 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454467 ms (missed cycles : 3).[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672209 ms (missed cycles : 2). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672209 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491527 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491527 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126012 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126012 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.48sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 1.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.48sINFOros2_control_node[2026-08-07 01:55:18.671] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-08-07 01:55:18.671] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157134 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157134 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417822 ms (missed cycles : 6). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417822 ms (missed cycles : 6).[0m ×2 + 3.63sINFOobjective_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 + 3.63sINFOros2_control_node[2026-08-07 01:55:20.820] [info] Got request to cancel active goal. ×2 + 3.63sINFOros2_control_node[2026-08-07 01:55:20.820] [info] Canceling active goal... ×2 + 3.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786067720.83254075 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043355 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043355 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786067721.47791147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (5.72e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.49sINFOros2_control_node[2026-08-07 01:55:21.682] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-07 01:55:21.682] [info] Accepted new action goal ×2 + 4.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429694 ms (missed cycles : 6). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429694 ms (missed cycles : 6).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815405 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815405 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491527 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491527 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126012 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126012 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.48sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 1.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.48sINFOros2_control_node[2026-08-07 01:55:18.671] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-08-07 01:55:18.671] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157134 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157134 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417822 ms (missed cycles : 6). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417822 ms (missed cycles : 6).[0m ×2 + 3.63sINFOobjective_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 + 3.63sINFOros2_control_node[2026-08-07 01:55:20.820] [info] Got request to cancel active goal. ×2 + 3.63sINFOros2_control_node[2026-08-07 01:55:20.820] [info] Canceling active goal... ×2 + 3.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786067720.83254075 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043355 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043355 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786067721.47791147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (5.72e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.49sINFOros2_control_node[2026-08-07 01:55:21.682] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-07 01:55:21.682] [info] Accepted new action goal ×2 + 4.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429694 ms (missed cycles : 6). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429694 ms (missed cycles : 6).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815405 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815405 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491527 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491527 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126012 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126012 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.48sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 1.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.48sINFOros2_control_node[2026-08-07 01:55:18.671] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-08-07 01:55:18.671] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157134 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157134 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417822 ms (missed cycles : 6). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417822 ms (missed cycles : 6).[0m ×2 + 3.63sINFOobjective_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 + 3.63sINFOros2_control_node[2026-08-07 01:55:20.820] [info] Got request to cancel active goal. ×2 + 3.63sINFOros2_control_node[2026-08-07 01:55:20.820] [info] Canceling active goal... ×2 + 3.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786067720.83254075 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043355 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043355 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786067721.47791147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (5.72e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.49sINFOros2_control_node[2026-08-07 01:55:21.682] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-07 01:55:21.682] [info] Accepted new action goal ×2 + 4.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429694 ms (missed cycles : 6). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429694 ms (missed cycles : 6).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815405 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815405 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491527 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491527 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126012 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126012 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.48sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 1.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.48sINFOros2_control_node[2026-08-07 01:55:18.671] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-08-07 01:55:18.671] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157134 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157134 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417822 ms (missed cycles : 6). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417822 ms (missed cycles : 6).[0m ×2 + 3.63sINFOobjective_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 + 3.63sINFOros2_control_node[2026-08-07 01:55:20.820] [info] Got request to cancel active goal. ×2 + 3.63sINFOros2_control_node[2026-08-07 01:55:20.820] [info] Canceling active goal... ×2 + 3.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786067720.83254075 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043355 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043355 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786067721.47791147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (5.72e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.49sINFOros2_control_node[2026-08-07 01:55:21.682] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-07 01:55:21.682] [info] Accepted new action goal ×2 + 4.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429694 ms (missed cycles : 6). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429694 ms (missed cycles : 6).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815405 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815405 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491527 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491527 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126012 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126012 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.48sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 1.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.48sINFOros2_control_node[2026-08-07 01:55:18.671] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-08-07 01:55:18.671] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157134 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157134 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417822 ms (missed cycles : 6). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417822 ms (missed cycles : 6).[0m ×2 + 3.63sINFOobjective_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 + 3.63sINFOros2_control_node[2026-08-07 01:55:20.820] [info] Got request to cancel active goal. ×2 + 3.63sINFOros2_control_node[2026-08-07 01:55:20.820] [info] Canceling active goal... ×2 + 3.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786067720.83254075 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043355 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043355 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786067721.47791147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (5.72e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.49sINFOros2_control_node[2026-08-07 01:55:21.682] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-07 01:55:21.682] [info] Accepted new action goal ×2 + 4.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429694 ms (missed cycles : 6). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429694 ms (missed cycles : 6).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815405 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815405 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491527 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491527 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126012 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126012 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.48sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 1.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.48sINFOros2_control_node[2026-08-07 01:55:18.671] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-08-07 01:55:18.671] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157134 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157134 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417822 ms (missed cycles : 6). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417822 ms (missed cycles : 6).[0m ×2 + 3.63sINFOobjective_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 + 3.63sINFOros2_control_node[2026-08-07 01:55:20.820] [info] Got request to cancel active goal. ×2 + 3.63sINFOros2_control_node[2026-08-07 01:55:20.820] [info] Canceling active goal... ×2 + 3.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786067720.83254075 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043355 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043355 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786067721.47791147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (5.72e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.49sINFOros2_control_node[2026-08-07 01:55:21.682] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-07 01:55:21.682] [info] Accepted new action goal ×2 + 4.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429694 ms (missed cycles : 6). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429694 ms (missed cycles : 6).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815405 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815405 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491527 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491527 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126012 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126012 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.48sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 1.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.48sINFOros2_control_node[2026-08-07 01:55:18.671] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-08-07 01:55:18.671] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157134 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157134 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417822 ms (missed cycles : 6). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417822 ms (missed cycles : 6).[0m ×2 + 3.63sINFOobjective_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 + 3.63sINFOros2_control_node[2026-08-07 01:55:20.820] [info] Got request to cancel active goal. ×2 + 3.63sINFOros2_control_node[2026-08-07 01:55:20.820] [info] Canceling active goal... ×2 + 3.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786067720.83254075 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043355 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043355 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786067721.47791147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (5.72e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.49sINFOros2_control_node[2026-08-07 01:55:21.682] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-07 01:55:21.682] [info] Accepted new action goal ×2 + 4.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429694 ms (missed cycles : 6). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429694 ms (missed cycles : 6).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815405 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815405 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491527 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491527 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126012 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126012 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.48sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 1.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.48sINFOros2_control_node[2026-08-07 01:55:18.671] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-08-07 01:55:18.671] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157134 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157134 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417822 ms (missed cycles : 6). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417822 ms (missed cycles : 6).[0m ×2 + 3.63sINFOobjective_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 + 3.63sINFOros2_control_node[2026-08-07 01:55:20.820] [info] Got request to cancel active goal. ×2 + 3.63sINFOros2_control_node[2026-08-07 01:55:20.820] [info] Canceling active goal... ×2 + 3.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786067720.83254075 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043355 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043355 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786067721.47791147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (5.72e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.49sINFOros2_control_node[2026-08-07 01:55:21.682] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-07 01:55:21.682] [info] Accepted new action goal ×2 + 4.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429694 ms (missed cycles : 6). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429694 ms (missed cycles : 6).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815405 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815405 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491527 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491527 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126012 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126012 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.48sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 1.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.48sINFOros2_control_node[2026-08-07 01:55:18.671] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-08-07 01:55:18.671] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157134 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157134 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417822 ms (missed cycles : 6). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417822 ms (missed cycles : 6).[0m ×2 + 3.63sINFOobjective_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 + 3.63sINFOros2_control_node[2026-08-07 01:55:20.820] [info] Got request to cancel active goal. ×2 + 3.63sINFOros2_control_node[2026-08-07 01:55:20.820] [info] Canceling active goal... ×2 + 3.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786067720.83254075 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043355 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043355 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786067721.47791147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (5.72e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.49sINFOros2_control_node[2026-08-07 01:55:21.682] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-07 01:55:21.682] [info] Accepted new action goal ×2 + 4.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429694 ms (missed cycles : 6). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429694 ms (missed cycles : 6).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815405 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815405 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491527 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491527 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126012 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126012 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.48sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 1.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.48sINFOros2_control_node[2026-08-07 01:55:18.671] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-08-07 01:55:18.671] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157134 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157134 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417822 ms (missed cycles : 6). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417822 ms (missed cycles : 6).[0m ×2 + 3.63sINFOobjective_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 + 3.63sINFOros2_control_node[2026-08-07 01:55:20.820] [info] Got request to cancel active goal. ×2 + 3.63sINFOros2_control_node[2026-08-07 01:55:20.820] [info] Canceling active goal... ×2 + 3.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786067720.83254075 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043355 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043355 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786067721.47791147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (5.72e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.49sINFOros2_control_node[2026-08-07 01:55:21.682] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-07 01:55:21.682] [info] Accepted new action goal ×2 + 4.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429694 ms (missed cycles : 6). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.429694 ms (missed cycles : 6).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815405 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815405 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043777 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043777 ms (missed cycles : 3).[0m ×2 + 0.83sWARNros2_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 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 0.99sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (8.3e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801236 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801236 ms (missed cycles : 3).[0m ×2 + 1.07sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 1.10sINFOobjective_server_nodeFound path in 1 iterations (0.00327354 s). ×2 + 1.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 1.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.28sINFOros2_control_node[2026-08-07 01:55:41.009] [info] Received new action goal ×2 + 1.28sINFOros2_control_node[2026-08-07 01:55:41.009] [info] Accepted new action goal ×2 + 1.71sINFOros2_control_node[2026-08-07 01:55:41.442] [info] Received new action goal ×2 + 1.71sINFOros2_control_node[2026-08-07 01:55:41.442] [info] Accepted new action goal ×2 + 2.03sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.336712 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.336712 ms (missed cycles : 4).[0m ×2 + 3.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313444 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313444 ms (missed cycles : 3).[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 + 3.19sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.19sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.19sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.19sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sERRORobjective_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: 1786067742.93703341 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786067743.74715686 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217154 ms (missed cycles : 5). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217154 ms (missed cycles : 5).[0m ×2 + 4.20sINFOros2_control_node[2026-08-07 01:55:43.931] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-08-07 01:55:43.931] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213728 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213728 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597249 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597249 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 23 warnings · 97 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.800965 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.800965 ms (missed cycles : 5).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321479 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321479 ms (missed cycles : 3).[0m ×2 + 1.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743950 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743950 ms (missed cycles : 2).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.610193 ms (missed cycles : 5). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.610193 ms (missed cycles : 5).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786067755.31748676 seconds ×3 + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482705 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482705 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786067755.98309684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.51sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786067756.04325652 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786067756.65229607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.24sINFOobjective_server_nodeFound path in 0 iterations (5.43e-07 s). ×2 + 5.24sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.25sINFOros2_control_node[2026-08-07 01:55:56.766] [info] Received new action goal ×2 + 5.25sINFOros2_control_node[2026-08-07 01:55:56.766] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533382 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533382 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340113 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340113 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 112 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786067755.98309684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786067756.04325652 seconds ×3 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786067756.65229607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (5.43e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.78sINFOros2_control_node[2026-08-07 01:55:56.766] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-07 01:55:56.766] [info] Accepted new action goal ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533382 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533382 ms (missed cycles : 2).[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340113 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340113 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786067758.77242923 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.615691 ms (missed cycles : 6). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.615691 ms (missed cycles : 6).[0m ×2 + 3.55sWARNros2_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 ×2 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.077649 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.077649 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786067760.37144542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.423838 ms (missed cycles : 5). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.423838 ms (missed cycles : 5).[0m ×2 + 5.09sINFOobjective_server_node[2026-08-07 01:56:01.074] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.96sINFOobjective_server_node[0;93m2026-08-07 01:56:01.939937520 [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 + 5.96sINFOobjective_server_node[0;93m2026-08-07 01:56:01.939980281 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412445 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412445 ms (missed cycles : 3).[0m ×2 + 6.23sINFOobjective_server_node[2026-08-07 01:56:02.207] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.90sINFOobjective_server_node[0;93m2026-08-07 01:56:02.882671414 [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 + 6.90sINFOobjective_server_node[0;93m2026-08-07 01:56:02.882711894 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 77 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 01:56:01.939937520 [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;93m2026-08-07 01:56:01.939980281 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412445 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412445 ms (missed cycles : 3).[0m ×2 + 0.27sINFOobjective_server_node[2026-08-07 01:56:02.207] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.94sINFOobjective_server_node[0;93m2026-08-07 01:56:02.882671414 [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 + 0.94sINFOobjective_server_node[0;93m2026-08-07 01:56:02.882711894 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.11sINFOobjective_server_node[2026-08-07 01:56:03.050] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.18sINFOobjective_server_node[0;93m2026-08-07 01:56:03.121841422 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.19sINFOobjective_server_node[0;93m2026-08-07 01:56:03.124956556 [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 + 1.19sINFOobjective_server_node[0;93m2026-08-07 01:56:03.124983145 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.20sINFOobjective_server_node[2026-08-07 01:56:03.142] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519046 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519046 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_node[0;93m2026-08-07 01:56:03.520932517 [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 + 1.60sINFOobjective_server_node[0;93m2026-08-07 01:56:03.543542326 [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 + 1.60sINFOobjective_server_node[0;93m2026-08-07 01:56:03.543577320 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876425 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876425 ms (missed cycles : 2).[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735633 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735633 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786067765.48245907 seconds ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786067766.22306299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.36sINFOobjective_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 + 4.37sINFOobjective_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 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418173 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418173 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (6.24e-07 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOros2_control_node[2026-08-07 01:56:06.633] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-07 01:56:06.633] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176679 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176679 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.441334 ms (missed cycles : 9). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.441334 ms (missed cycles : 9).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 21 errors · 23 warnings · 162 info |
+ 0.00sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 0.01sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774893 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774893 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786067823.21170950 seconds ×3 + 1.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 1.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.22sINFOcontroller_managerSuccessfully switched controllers! ×7 + 1.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 1.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 1.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 1.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626682 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626682 ms (missed cycles : 3).[0m ×2 + 1.85sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786067823.84547400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_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 + 1.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 1.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 1.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.99sINFOobjective_server_nodeFound path in 0 iterations (4.57e-07 s). ×2 + 1.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 1.99sINFOros2_control_node[2026-08-07 01:57:03.989] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-08-07 01:57:03.989] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.192801 ms (missed cycles : 5). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.192801 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 3.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851014 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851014 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786067825.57654762 seconds ×3 + 4.21sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1786067826.21405005 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (5.94e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.39sINFOros2_control_node[2026-08-07 01:57:06.388] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-07 01:57:06.388] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276027 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276027 ms (missed cycles : 2).[0m ×2 + 4.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515662 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515662 ms (missed cycles : 3).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387920 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387920 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 3 errors · 23 warnings · 81 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958162 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958162 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.904417 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.904417 ms (missed cycles : 6).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934855 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934855 ms (missed cycles : 2).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252340 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252340 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_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 + 3.32sINFOobjective_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 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.62sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 3.62sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1786067836.34994721 seconds ×3 + 3.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787285 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787285 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786067836.99615598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 5 iterations (0.0057526 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.55sINFOros2_control_node[2026-08-07 01:57:17.272] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-07 01:57:17.272] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615655 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615655 ms (missed cycles : 3).[0m ×2 + 5.95sWARNros2_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 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079799 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079799 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821080 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821080 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_node[2026-08-07 01:57:55.959] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-08-07 01:57:55.959] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837647 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837647 ms (missed cycles : 2).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682993 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682993 ms (missed cycles : 2).[0m ×2 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.65sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.67sINFOros2_control_node[2026-08-07 01:57:57.983] [info] Received new action goal ×2 + 2.67sINFOros2_control_node[2026-08-07 01:57:57.983] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280827 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280827 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOros2_control_node[2026-08-07 01:57:58.929] [info] Got request to cancel active goal. ×2 + 3.61sINFOros2_control_node[2026-08-07 01:57:58.929] [info] Canceling active goal... ×2 + 3.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786067878.94419670 seconds ×3 + 3.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.29sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786067879.60466671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496870 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496870 ms (missed cycles : 4).[0m ×2 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sWARNros2_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 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sINFOros2_control_node[2026-08-07 01:57:59.789] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-07 01:57:59.789] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900428 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900428 ms (missed cycles : 2).[0m ×2 + 6.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.746070 ms (missed cycles : 6). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.746070 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821080 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821080 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_node[2026-08-07 01:57:55.959] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-08-07 01:57:55.959] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837647 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837647 ms (missed cycles : 2).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682993 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682993 ms (missed cycles : 2).[0m ×2 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.65sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.67sINFOros2_control_node[2026-08-07 01:57:57.983] [info] Received new action goal ×2 + 2.67sINFOros2_control_node[2026-08-07 01:57:57.983] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280827 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280827 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOros2_control_node[2026-08-07 01:57:58.929] [info] Got request to cancel active goal. ×2 + 3.61sINFOros2_control_node[2026-08-07 01:57:58.929] [info] Canceling active goal... ×2 + 3.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786067878.94419670 seconds ×3 + 3.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.29sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786067879.60466671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496870 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496870 ms (missed cycles : 4).[0m ×2 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sWARNros2_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 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sINFOros2_control_node[2026-08-07 01:57:59.789] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-07 01:57:59.789] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900428 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900428 ms (missed cycles : 2).[0m ×2 + 6.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.746070 ms (missed cycles : 6). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.746070 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821080 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821080 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_node[2026-08-07 01:57:55.959] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-08-07 01:57:55.959] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837647 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837647 ms (missed cycles : 2).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682993 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682993 ms (missed cycles : 2).[0m ×2 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.65sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.67sINFOros2_control_node[2026-08-07 01:57:57.983] [info] Received new action goal ×2 + 2.67sINFOros2_control_node[2026-08-07 01:57:57.983] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280827 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280827 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOros2_control_node[2026-08-07 01:57:58.929] [info] Got request to cancel active goal. ×2 + 3.61sINFOros2_control_node[2026-08-07 01:57:58.929] [info] Canceling active goal... ×2 + 3.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786067878.94419670 seconds ×3 + 3.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.29sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786067879.60466671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496870 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496870 ms (missed cycles : 4).[0m ×2 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sWARNros2_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 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sINFOros2_control_node[2026-08-07 01:57:59.789] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-07 01:57:59.789] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900428 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900428 ms (missed cycles : 2).[0m ×2 + 6.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.746070 ms (missed cycles : 6). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.746070 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821080 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821080 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_node[2026-08-07 01:57:55.959] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-08-07 01:57:55.959] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837647 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837647 ms (missed cycles : 2).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682993 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682993 ms (missed cycles : 2).[0m ×2 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.65sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.67sINFOros2_control_node[2026-08-07 01:57:57.983] [info] Received new action goal ×2 + 2.67sINFOros2_control_node[2026-08-07 01:57:57.983] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280827 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280827 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOros2_control_node[2026-08-07 01:57:58.929] [info] Got request to cancel active goal. ×2 + 3.61sINFOros2_control_node[2026-08-07 01:57:58.929] [info] Canceling active goal... ×2 + 3.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786067878.94419670 seconds ×3 + 3.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.29sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786067879.60466671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496870 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496870 ms (missed cycles : 4).[0m ×2 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sWARNros2_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 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sINFOros2_control_node[2026-08-07 01:57:59.789] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-07 01:57:59.789] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900428 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900428 ms (missed cycles : 2).[0m ×2 + 6.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.746070 ms (missed cycles : 6). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.746070 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821080 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821080 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_node[2026-08-07 01:57:55.959] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-08-07 01:57:55.959] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837647 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837647 ms (missed cycles : 2).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682993 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682993 ms (missed cycles : 2).[0m ×2 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.65sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.67sINFOros2_control_node[2026-08-07 01:57:57.983] [info] Received new action goal ×2 + 2.67sINFOros2_control_node[2026-08-07 01:57:57.983] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280827 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280827 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOros2_control_node[2026-08-07 01:57:58.929] [info] Got request to cancel active goal. ×2 + 3.61sINFOros2_control_node[2026-08-07 01:57:58.929] [info] Canceling active goal... ×2 + 3.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786067878.94419670 seconds ×3 + 3.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.29sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786067879.60466671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496870 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496870 ms (missed cycles : 4).[0m ×2 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sWARNros2_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 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sINFOros2_control_node[2026-08-07 01:57:59.789] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-07 01:57:59.789] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900428 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900428 ms (missed cycles : 2).[0m ×2 + 6.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.746070 ms (missed cycles : 6). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.746070 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821080 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821080 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_node[2026-08-07 01:57:55.959] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-08-07 01:57:55.959] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837647 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837647 ms (missed cycles : 2).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682993 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682993 ms (missed cycles : 2).[0m ×2 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.65sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.67sINFOros2_control_node[2026-08-07 01:57:57.983] [info] Received new action goal ×2 + 2.67sINFOros2_control_node[2026-08-07 01:57:57.983] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280827 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280827 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOros2_control_node[2026-08-07 01:57:58.929] [info] Got request to cancel active goal. ×2 + 3.61sINFOros2_control_node[2026-08-07 01:57:58.929] [info] Canceling active goal... ×2 + 3.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786067878.94419670 seconds ×3 + 3.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.29sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786067879.60466671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496870 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496870 ms (missed cycles : 4).[0m ×2 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sWARNros2_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 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sINFOros2_control_node[2026-08-07 01:57:59.789] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-07 01:57:59.789] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900428 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900428 ms (missed cycles : 2).[0m ×2 + 6.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.746070 ms (missed cycles : 6). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.746070 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821080 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821080 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_node[2026-08-07 01:57:55.959] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-08-07 01:57:55.959] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837647 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837647 ms (missed cycles : 2).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682993 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682993 ms (missed cycles : 2).[0m ×2 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.65sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.67sINFOros2_control_node[2026-08-07 01:57:57.983] [info] Received new action goal ×2 + 2.67sINFOros2_control_node[2026-08-07 01:57:57.983] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280827 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280827 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOros2_control_node[2026-08-07 01:57:58.929] [info] Got request to cancel active goal. ×2 + 3.61sINFOros2_control_node[2026-08-07 01:57:58.929] [info] Canceling active goal... ×2 + 3.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786067878.94419670 seconds ×3 + 3.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.29sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786067879.60466671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496870 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496870 ms (missed cycles : 4).[0m ×2 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sWARNros2_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 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sINFOros2_control_node[2026-08-07 01:57:59.789] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-07 01:57:59.789] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900428 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900428 ms (missed cycles : 2).[0m ×2 + 6.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.746070 ms (missed cycles : 6). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.746070 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821080 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821080 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_node[2026-08-07 01:57:55.959] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-08-07 01:57:55.959] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837647 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837647 ms (missed cycles : 2).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682993 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682993 ms (missed cycles : 2).[0m ×2 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.65sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.67sINFOros2_control_node[2026-08-07 01:57:57.983] [info] Received new action goal ×2 + 2.67sINFOros2_control_node[2026-08-07 01:57:57.983] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280827 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280827 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOros2_control_node[2026-08-07 01:57:58.929] [info] Got request to cancel active goal. ×2 + 3.61sINFOros2_control_node[2026-08-07 01:57:58.929] [info] Canceling active goal... ×2 + 3.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786067878.94419670 seconds ×3 + 3.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.29sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786067879.60466671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496870 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496870 ms (missed cycles : 4).[0m ×2 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sWARNros2_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 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sINFOros2_control_node[2026-08-07 01:57:59.789] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-07 01:57:59.789] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900428 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900428 ms (missed cycles : 2).[0m ×2 + 6.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.746070 ms (missed cycles : 6). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.746070 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 25 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664944 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664944 ms (missed cycles : 2).[0m ×2 + 0.62sWARNros2_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 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047573 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047573 ms (missed cycles : 2).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.934040 ms (missed cycles : 5). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.934040 ms (missed cycles : 5).[0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244216 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244216 ms (missed cycles : 3).[0m ×2 + 3.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sERRORobjective_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: 1786067889.82575226 seconds ×3 + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744580 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744580 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786067890.42262888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (7.18e-07 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.83sINFOros2_control_node[2026-08-07 01:58:10.729] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-07 01:58:10.729] [info] Accepted new action goal ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759768 ms (missed cycles : 6). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759768 ms (missed cycles : 6).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.712799 ms (missed cycles : 5). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.712799 ms (missed cycles : 5).[0m ×2 + 6.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 23 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011090 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011090 ms (missed cycles : 5).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.180159 ms (missed cycles : 4). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.180159 ms (missed cycles : 4).[0m ×2 + 1.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651677 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651677 ms (missed cycles : 2).[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788974 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788974 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786067900.33638787 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.04sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786067900.94161057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (5.11e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.22sINFOros2_control_node[2026-08-07 01:58:21.126] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-07 01:58:21.126] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.130395 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.130395 ms (missed cycles : 4).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840416 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840416 ms (missed cycles : 2).[0m ×2 + 6.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.13sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 102 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565694 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565694 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.628059 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.628059 ms (missed cycles : 4).[0m ×2 + 1.11sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.90sWARNros2_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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192655 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192655 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564649 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564649 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_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 + 3.16sINFOros2_control_node[2026-08-07 01:58:43.817] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-08-07 01:58:43.817] [info] Canceling active goal... ×2 + 3.17sERRORobjective_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: 1786067923.82302737 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786067924.47378612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.751736 ms (missed cycles : 6). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.751736 ms (missed cycles : 6).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548488 ms (missed cycles : 6). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548488 ms (missed cycles : 6).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786067926.02392125 seconds ×3 + 5.97sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786067926.63099456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.98sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.98sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.98sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.98sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786067926.63391447 seconds ×3 | ||||
▾
/__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 | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-6process has finished cleanly [pid 8982] ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-6process has finished cleanly [pid 8982] ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-6process has finished cleanly [pid 8982] ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-6process has finished cleanly [pid 8982] ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-6process has finished cleanly [pid 8982] ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-6process has finished cleanly [pid 8982] ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-6process has finished cleanly [pid 8982] ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 9.1s | 38 warnings · 585 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/2026-08-07-01-54-25-299878-cec180f060d8-8929 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.85sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.86sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.87sINFOcontroller_managerupdate rate is 600 Hz + 1.87sINFOcontroller_managerOverruns handling is : enabled + 1.87sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.87sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552391 ms (missed cycles : 2). + 2.14sINFOros2_control_node-1process started with pid [8977] ×2 + 2.14sINFOmove_group-9process started with pid [9014] ×2 + 2.14sINFOparameter_manager_node-10process started with pid [9015] ×2 + 2.14sINFOwaypoint_manager_node-11process started with pid [9016] ×2 + 2.14sINFOmove_joint_resampler_node-12process started with pid [9017] ×2 + 2.14sINFOmove_end_effector_resampler_node-13process started with pid [9018] ×2 + 2.14sINFOobjective_server_node_main-14process started with pid [9019] ×2 + 2.14sINFOcomponent_container_mt-15process started with pid [9020] ×2 + 2.14sINFOcomponent_container_mt-16process started with pid [9021] ×2 + 2.14sINFOexecute_objective_bridge-17process started with pid [9022] ×2 + 2.14sINFOui_teleop_bridge-18process started with pid [9023] ×2 + 2.14sINFOweb_bridge-19process started with pid [9024] ×2 + 2.14sINFOtf2_web_republisher_node-20process started with pid [9088] ×2 + 2.14sINFOvideo_server-21process started with pid [9091] ×2 + 2.14sINFOweb_bridge_auth_proxy-22process started with pid [9092] ×2 + 2.16sINFOweb_video_auth_proxy-23process started with pid [9097] ×2 + 2.17sINFOros2-2process started with pid [8978] ×2 + 2.17sINFOros2-3process started with pid [8979] ×2 + 2.17sINFOros2-4process started with pid [8980] ×2 + 2.17sINFOros2-5process started with pid [8981] ×2 + 2.17sINFOros2-6process started with pid [8982] ×2 + 2.17sINFOros2-7process started with pid [8983] ×2 + 2.17sINFOros2-8process started with pid [8984] ×2 + 2.20sINFOcontroller_managerReceived robot description from topic. + 2.20sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.21sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.21sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.21sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.21sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.21sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.21sWARNros2_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 + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552391 ms (missed cycles : 2).[0m ×2 + 2.22sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.22sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.23sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.23sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.32sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.56sINFOvideo_server2026/08/07 01:54:28 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.56sINFOvideo_server2026/08/07 01:54:28 INF configuration loaded from /tmp/moveit-webrtc-dzv4l1a8/mediamtx.yml ×2 + 2.56sINFOvideo_server2026/08/07 01:54:28 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.57sINFOvideo_server2026/08/07 01:54:28 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719395 ms (missed cycles : 3). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719395 ms (missed cycles : 3).[0m ×2 + 3.17sINFOmove_group[2026-08-07 01:54:29.232] [moveit_pro_license] [info] ×2 + 3.17sINFOmove_group************************************************* ×4 + 3.17sINFOmove_group* MoveIt Pro License ×2 + 3.17sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.46sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.46sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.46sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.46sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.54sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.60sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.60sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.60sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.60sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.60sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.61sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.61sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.61sINFOwaypoint_manager_node[2026-08-07 01:54:29.678] [moveit_pro_license] [info] ×2 + 3.62sINFOwaypoint_manager_node************************************************* ×4 + 3.62sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.62sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.68sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.73sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.79sINFOmove_group ×4 + 3.79sINFOmove_group[92mYou can start planning now![0m ×2 + 3.99sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.99sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.760683 ms (missed cycles : 6). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.760683 ms (missed cycles : 6).[0m ×2 + 4.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 5.13sINFOobjective_server_node[2026-08-07 01:54:31.192] [moveit_pro_license] [info] ×2 + 5.13sINFOobjective_server_node************************************************* ×4 + 5.13sINFOobjective_server_node* MoveIt Pro License ×2 + 5.13sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.24sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 5.24sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 5.25sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 5.25sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 5.25sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 5.25sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 5.25sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 5.25sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 5.25sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 5.25sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 5.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.36sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 5.36sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.67sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.67sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.67sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.67sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.67sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.67sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.67sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.67sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.67sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.67sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.67sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.67sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.67sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.67sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.72sINFOcomponent_container_mt[2026-08-07 01:54:31.781] [moveit_pro_license] [info] ×2 + 5.72sINFOcomponent_container_mt************************************************* ×4 + 5.72sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.72sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.75sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 5.75sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 5.77sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.77sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.77sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.77sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.77sINFOforce_torque_sensor_broadcasterconfigure successful + 5.78sINFOros2_control_nodeconfigure successful[0m ×2 + 5.78sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.78sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.78sINFOcontroller_managerSuccessfully switched controllers! ×14 + 5.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 5.78sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.78sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 6.08sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.08sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.08sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.08sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.09sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 6.09sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 6.13sINFOros2-2process has finished cleanly [pid 8978] ×2 + 6.15sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.15sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.16sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.16sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.16sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.16sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.17sWARNobjective_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 + 6.19sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.19sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.20sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.20sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.21sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700091 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700091 ms (missed cycles : 2).[0m ×2 + 6.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.47sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.47sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.52sINFOros2-4process has finished cleanly [pid 8980] ×2 + 6.58sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 6.58sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 6.64sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.64sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.64sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.64sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 6.68sINFOros2_control_node[2026-08-07 01:54:32.743] [info] Controller state will be published at 10 Hz. ×2 + 6.68sINFOros2_control_node[2026-08-07 01:54:32.745] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.94sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.94sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.95sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.95sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.95sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 6.95sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 7.00sINFOros2-7process has finished cleanly [pid 8983] ×2 + 7.02sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 7.02sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 7.02sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 7.02sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 7.02sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 7.02sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 7.02sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 7.02sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 7.02sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 7.02sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 7.03sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 7.03sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 7.03sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 7.03sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 7.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.04sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 7.04sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 7.37sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 7.37sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 7.37sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 7.37sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 7.37sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 7.37sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824019 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824019 ms (missed cycles : 2).[0m ×2 + 7.38sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 7.39sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 7.41sINFOros2-5process has finished cleanly [pid 8981] ×2 + 7.42sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 7.42sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 7.42sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 7.42sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 7.42sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 7.42sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 7.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 7.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 7.44sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 7.44sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 7.54sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 7.58sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 7.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 7.58sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 7.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 7.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 7.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 7.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 7.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 7.78sINFOros2-3process has finished cleanly [pid 8979] ×2 + 7.78sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 7.78sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 7.79sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 7.79sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 7.86sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 7.86sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 7.90sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 7.90sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 7.91sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 7.91sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 7.93sINFOros2_control_node[2026-08-07 01:54:33.996] [info] Controller state will be published at 20 Hz. ×2 + 7.93sINFOros2_control_node[2026-08-07 01:54:33.996] [info] JointVelocityController 'on_configure' succeeded. ×2 + 8.07sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786067674.34474277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.28sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 8.28sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 8.28sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 8.28sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 8.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786067674.35499835 seconds ×3 + 8.30sINFOros2-8process has finished cleanly [pid 8984] ×2 + 8.36sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 8.37sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 8.42sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 8.42sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 8.42sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 8.42sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 8.42sINFOros2_control_node[2026-08-07 01:54:34.482] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 8.42sINFOros2_control_node[2026-08-07 01:54:34.482] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 8.45sINFOros2_control_node[2026-08-07 01:54:34.518] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 8.45sINFOros2_control_node[2026-08-07 01:54:34.518] [info] Controller state will be published at 50 Hz. ×2 + 8.46sINFOros2_control_node[2026-08-07 01:54:34.524] [info] Registered `FollowJointTrajectory` action server. ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 8.76sINFOros2-6process has finished cleanly [pid 8982] ×2 + 8.97sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 10.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 10.16sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 11.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 11.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 11.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 11.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 296 info |
+ 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 0.05sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.05sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.05sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_node[2026-08-07 01:54:33.996] [info] Controller state will be published at 20 Hz. ×2 + 0.07sINFOros2_control_node[2026-08-07 01:54:33.996] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.22sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786067674.34474277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.42sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.42sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.42sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786067674.35499835 seconds ×3 + 0.44sINFOros2-8process has finished cleanly [pid 8984] ×2 + 0.51sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 0.51sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.56sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.56sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.56sINFOros2_control_node[2026-08-07 01:54:34.482] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.56sINFOros2_control_node[2026-08-07 01:54:34.482] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.60sINFOros2_control_node[2026-08-07 01:54:34.518] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.60sINFOros2_control_node[2026-08-07 01:54:34.518] [info] Controller state will be published at 50 Hz. ×2 + 0.60sINFOros2_control_node[2026-08-07 01:54:34.524] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 0.90sINFOros2-6process has finished cleanly [pid 8982] ×2 + 1.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 2.30sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 3.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.81sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 5.81sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.83sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 5.83sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 28 warnings · 363 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824019 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824019 ms (missed cycles : 2).[0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOros2-5process has finished cleanly [pid 8981] ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.05sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.07sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.16sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.41sINFOros2-3process has finished cleanly [pid 8979] ×2 + 0.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.49sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 0.49sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.54sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.56sINFOros2_control_node[2026-08-07 01:54:33.996] [info] Controller state will be published at 20 Hz. ×2 + 0.56sINFOros2_control_node[2026-08-07 01:54:33.996] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.70sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786067674.34474277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.91sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.91sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786067674.35499835 seconds ×3 + 0.93sINFOros2-8process has finished cleanly [pid 8984] ×2 + 0.99sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 1.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 1.04sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.05sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.05sINFOros2_control_node[2026-08-07 01:54:34.482] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.05sINFOros2_control_node[2026-08-07 01:54:34.482] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.08sINFOros2_control_node[2026-08-07 01:54:34.518] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.08sINFOros2_control_node[2026-08-07 01:54:34.518] [info] Controller state will be published at 50 Hz. ×2 + 1.09sINFOros2_control_node[2026-08-07 01:54:34.524] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2-6process has finished cleanly [pid 8982] ×2 + 1.60sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 2.78sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 4.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 6.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.32sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 6.32sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.1s | 22 warnings · 296 info |
+ 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 0.05sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.05sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.05sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_node[2026-08-07 01:54:33.996] [info] Controller state will be published at 20 Hz. ×2 + 0.07sINFOros2_control_node[2026-08-07 01:54:33.996] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.22sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786067674.34474277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.42sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.42sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.42sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786067674.35499835 seconds ×3 + 0.44sINFOros2-8process has finished cleanly [pid 8984] ×2 + 0.51sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 0.51sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.56sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.56sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.56sINFOros2_control_node[2026-08-07 01:54:34.482] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.56sINFOros2_control_node[2026-08-07 01:54:34.482] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.60sINFOros2_control_node[2026-08-07 01:54:34.518] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.60sINFOros2_control_node[2026-08-07 01:54:34.518] [info] Controller state will be published at 50 Hz. ×2 + 0.60sINFOros2_control_node[2026-08-07 01:54:34.524] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 0.90sINFOros2-6process has finished cleanly [pid 8982] ×2 + 1.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 2.30sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 3.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.81sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 5.81sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.83sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 5.83sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 25 warnings · 392 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8980] ×2 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 0.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 0.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.16sINFOros2_control_node[2026-08-07 01:54:32.743] [info] Controller state will be published at 10 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-07 01:54:32.745] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.42sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.42sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.42sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.43sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 0.43sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 0.48sINFOros2-7process has finished cleanly [pid 8983] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.50sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.50sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.50sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.50sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.50sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.50sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.50sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.50sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.50sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.50sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.50sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.51sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.51sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.85sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.85sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.85sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.85sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 0.85sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824019 ms (missed cycles : 2). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824019 ms (missed cycles : 2).[0m ×2 + 0.86sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.86sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.89sINFOros2-5process has finished cleanly [pid 8981] ×2 + 0.90sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.90sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.90sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.90sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.90sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.92sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.92sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.01sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 1.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 1.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 1.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.26sINFOros2-3process has finished cleanly [pid 8979] ×2 + 1.26sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.26sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.26sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.26sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.34sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 1.34sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 1.38sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.38sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.38sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.38sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_node[2026-08-07 01:54:33.996] [info] Controller state will be published at 20 Hz. ×2 + 1.41sINFOros2_control_node[2026-08-07 01:54:33.996] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.55sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786067674.34474277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.76sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.76sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.76sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786067674.35499835 seconds ×3 + 1.78sINFOros2-8process has finished cleanly [pid 8984] ×2 + 1.84sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 1.84sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 1.89sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.89sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.90sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.90sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.90sINFOros2_control_node[2026-08-07 01:54:34.482] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.90sINFOros2_control_node[2026-08-07 01:54:34.482] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.93sINFOros2_control_node[2026-08-07 01:54:34.518] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.93sINFOros2_control_node[2026-08-07 01:54:34.518] [info] Controller state will be published at 50 Hz. ×2 + 1.94sINFOros2_control_node[2026-08-07 01:54:34.524] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 2.24sINFOros2-6process has finished cleanly [pid 8982] ×2 + 2.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 3.63sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 4.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 6.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 warnings · 88 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/2026-08-07-01-54-25-299878-cec180f060d8-8929 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.85sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.86sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.87sINFOcontroller_managerupdate rate is 600 Hz + 1.87sINFOcontroller_managerOverruns handling is : enabled + 1.87sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.87sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552391 ms (missed cycles : 2). + 2.14sINFOros2_control_node-1process started with pid [8977] ×2 + 2.14sINFOmove_group-9process started with pid [9014] ×2 + 2.14sINFOparameter_manager_node-10process started with pid [9015] ×2 + 2.14sINFOwaypoint_manager_node-11process started with pid [9016] ×2 + 2.14sINFOmove_joint_resampler_node-12process started with pid [9017] ×2 + 2.14sINFOmove_end_effector_resampler_node-13process started with pid [9018] ×2 + 2.14sINFOobjective_server_node_main-14process started with pid [9019] ×2 + 2.14sINFOcomponent_container_mt-15process started with pid [9020] ×2 + 2.14sINFOcomponent_container_mt-16process started with pid [9021] ×2 + 2.14sINFOexecute_objective_bridge-17process started with pid [9022] ×2 + 2.14sINFOui_teleop_bridge-18process started with pid [9023] ×2 + 2.14sINFOweb_bridge-19process started with pid [9024] ×2 + 2.14sINFOtf2_web_republisher_node-20process started with pid [9088] ×2 + 2.14sINFOvideo_server-21process started with pid [9091] ×2 + 2.14sINFOweb_bridge_auth_proxy-22process started with pid [9092] ×2 + 2.16sINFOweb_video_auth_proxy-23process started with pid [9097] ×2 + 2.17sINFOros2-2process started with pid [8978] ×2 + 2.17sINFOros2-3process started with pid [8979] ×2 + 2.17sINFOros2-4process started with pid [8980] ×2 + 2.17sINFOros2-5process started with pid [8981] ×2 + 2.17sINFOros2-6process started with pid [8982] ×2 + 2.17sINFOros2-7process started with pid [8983] ×2 + 2.17sINFOros2-8process started with pid [8984] ×2 + 2.20sINFOcontroller_managerReceived robot description from topic. + 2.20sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.21sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.21sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.21sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.21sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.21sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.21sWARNros2_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 + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552391 ms (missed cycles : 2).[0m ×2 + 2.22sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.22sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.23sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.23sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.32sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.56sINFOvideo_server2026/08/07 01:54:28 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.56sINFOvideo_server2026/08/07 01:54:28 INF configuration loaded from /tmp/moveit-webrtc-dzv4l1a8/mediamtx.yml ×2 + 2.56sINFOvideo_server2026/08/07 01:54:28 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.57sINFOvideo_server2026/08/07 01:54:28 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 25 warnings · 392 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8980] ×2 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 0.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 0.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.16sINFOros2_control_node[2026-08-07 01:54:32.743] [info] Controller state will be published at 10 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-07 01:54:32.745] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.42sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.42sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.42sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.43sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 0.43sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 0.48sINFOros2-7process has finished cleanly [pid 8983] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.50sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.50sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.50sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.50sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.50sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.50sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.50sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.50sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.50sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.50sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.50sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.51sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.51sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.85sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.85sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.85sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.85sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 0.85sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824019 ms (missed cycles : 2). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824019 ms (missed cycles : 2).[0m ×2 + 0.86sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.86sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.89sINFOros2-5process has finished cleanly [pid 8981] ×2 + 0.90sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.90sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.90sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.90sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.90sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.92sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.92sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.01sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 1.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 1.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 1.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.26sINFOros2-3process has finished cleanly [pid 8979] ×2 + 1.26sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.26sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.26sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.26sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.34sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 1.34sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 1.38sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.38sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.38sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.38sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_node[2026-08-07 01:54:33.996] [info] Controller state will be published at 20 Hz. ×2 + 1.41sINFOros2_control_node[2026-08-07 01:54:33.996] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.55sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786067674.34474277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.76sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.76sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.76sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786067674.35499835 seconds ×3 + 1.78sINFOros2-8process has finished cleanly [pid 8984] ×2 + 1.84sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 1.84sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 1.89sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.89sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.90sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.90sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.90sINFOros2_control_node[2026-08-07 01:54:34.482] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.90sINFOros2_control_node[2026-08-07 01:54:34.482] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.93sINFOros2_control_node[2026-08-07 01:54:34.518] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.93sINFOros2_control_node[2026-08-07 01:54:34.518] [info] Controller state will be published at 50 Hz. ×2 + 1.94sINFOros2_control_node[2026-08-07 01:54:34.524] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 2.24sINFOros2-6process has finished cleanly [pid 8982] ×2 + 2.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 3.63sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 4.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 6.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 25 warnings · 392 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8980] ×2 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 0.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 0.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.16sINFOros2_control_node[2026-08-07 01:54:32.743] [info] Controller state will be published at 10 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-07 01:54:32.745] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.42sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.42sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.42sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.43sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 0.43sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 0.48sINFOros2-7process has finished cleanly [pid 8983] ×2 + 0.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.50sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.50sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.50sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.50sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.50sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.50sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.50sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.50sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.50sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.50sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.50sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.51sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.51sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.85sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.85sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.85sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.85sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 0.85sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824019 ms (missed cycles : 2). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824019 ms (missed cycles : 2).[0m ×2 + 0.86sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.86sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.89sINFOros2-5process has finished cleanly [pid 8981] ×2 + 0.90sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.90sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.90sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.90sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.90sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.92sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.92sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.01sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 1.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 1.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 1.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.26sINFOros2-3process has finished cleanly [pid 8979] ×2 + 1.26sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.26sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.26sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.26sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.34sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 1.34sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 1.38sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.38sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.38sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.38sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_node[2026-08-07 01:54:33.996] [info] Controller state will be published at 20 Hz. ×2 + 1.41sINFOros2_control_node[2026-08-07 01:54:33.996] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.55sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786067674.34474277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.76sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.76sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.76sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786067674.35499835 seconds ×3 + 1.78sINFOros2-8process has finished cleanly [pid 8984] ×2 + 1.84sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 1.84sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 1.89sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.89sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.90sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.90sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.90sINFOros2_control_node[2026-08-07 01:54:34.482] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.90sINFOros2_control_node[2026-08-07 01:54:34.482] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.93sINFOros2_control_node[2026-08-07 01:54:34.518] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.93sINFOros2_control_node[2026-08-07 01:54:34.518] [info] Controller state will be published at 50 Hz. ×2 + 1.94sINFOros2_control_node[2026-08-07 01:54:34.524] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 2.24sINFOros2-6process has finished cleanly [pid 8982] ×2 + 2.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 3.63sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 4.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 6.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 28 warnings · 363 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824019 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824019 ms (missed cycles : 2).[0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOros2-5process has finished cleanly [pid 8981] ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.05sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.07sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.16sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.41sINFOros2-3process has finished cleanly [pid 8979] ×2 + 0.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.49sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 0.49sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.54sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.56sINFOros2_control_node[2026-08-07 01:54:33.996] [info] Controller state will be published at 20 Hz. ×2 + 0.56sINFOros2_control_node[2026-08-07 01:54:33.996] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.70sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786067674.34474277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.91sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.91sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786067674.35499835 seconds ×3 + 0.93sINFOros2-8process has finished cleanly [pid 8984] ×2 + 0.99sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u + 1.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_m76byfw8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ltxnit4m --params-file /tmp/launch_params_qlzmyc6u [0m ×2 + 1.04sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.05sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.05sINFOros2_control_node[2026-08-07 01:54:34.482] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.05sINFOros2_control_node[2026-08-07 01:54:34.482] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.08sINFOros2_control_node[2026-08-07 01:54:34.518] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.08sINFOros2_control_node[2026-08-07 01:54:34.518] [info] Controller state will be published at 50 Hz. ×2 + 1.09sINFOros2_control_node[2026-08-07 01:54:34.524] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2-6process has finished cleanly [pid 8982] ×2 + 1.60sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 2.78sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 4.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 6.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.32sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 6.32sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-6process has finished cleanly [pid 8982] ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-6process has finished cleanly [pid 8982] ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-6process has finished cleanly [pid 8982] ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-6process has finished cleanly [pid 8982] ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-6process has finished cleanly [pid 8982] ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-6process has finished cleanly [pid 8982] ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-6process has finished cleanly [pid 8982] ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-6process has finished cleanly [pid 8982] ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-6process has finished cleanly [pid 8982] ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-6process has finished cleanly [pid 8982] ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-6process has finished cleanly [pid 8982] ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-6process has finished cleanly [pid 8982] ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 28 warnings · 231 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-6process has finished cleanly [pid 8982] ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6).[0m ×2 + 7.08sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.705648 ms (missed cycles : 6). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.705648 ms (missed cycles : 6).[0m ×2 + 7.57sINFOobjective_server_nodeFound path in 0 iterations (5.27e-07 s). ×2 + 7.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-6process has finished cleanly [pid 8982] ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-6process has finished cleanly [pid 8982] ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-6process has finished cleanly [pid 8982] ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711514 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-6process has finished cleanly [pid 8982] ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786067675.03557992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275778 ms (missed cycles : 4).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786067676.10574126 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786067676.72107840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786067676.78126574 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351423 ms (missed cycles : 4).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786067677.44650030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786067677.46662998 seconds ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444008 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786067678.17563820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786067678.32820296 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786067678.97602081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786067679.01616144 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016872 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786067679.61725211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.3659e-05 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 01:54:39.754] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869560 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.442343 ms (missed cycles : 6).[0m ×2 | ||||